System and method for determining realistic trajectories

ABSTRACT

A system of a first vehicle includes sensors and a processor that performs generating of an initial trajectory along a travel route of the first vehicle, acquiring trajectories of second vehicles along the route, adjusting the initial trajectory based on the acquired trajectories of the second vehicles, and navigating the first vehicle based on the adjusted initial trajectory.

TECHNICAL FIELD

The present disclosure relates generally to vehicles such as assisted-driving vehicles or autonomous vehicles (AVs), and in particular, some embodiments relate to such vehicles determining trajectories and following the trajectories while driving. The trajectories may be determined using trajectories of other vehicles, driving rules or conventions, and/or current road situations or conditions.

BACKGROUND

Vehicles, such as autonomous vehicles (AVs), attempt to follow road markings such as lane dividers, arrows, and traffic signs while navigating and driving. During navigation, a vehicle may utilize on-board sensors such as camera, Lidar, radar, GPS, sonar, ultrasonic, IMU (inertial measurement unit), accelerometers, gyroscopes, magnetometers, and FIR (far infrared) sensors. Data from these sensors may provide information such as locations of lane dividers, arrows, other lane markings, and traffic signs. However, merely using data from these sensors in vehicle navigation is inadequate because it fails to account for conventions or behaviors of other vehicles and for other road situations, which may otherwise be undetected. These shortfalls are addressed by the present disclosures, which provide a safe and effective system and method to navigate a vehicle using trajectories that are adjusted or modified to account for behaviors of other vehicles and road conditions.

SUMMARY

Described herein are systems and methods for navigating a vehicle using trajectories. Various embodiments of the present disclosure provide a system comprising one or more sensors; one or more processors; and a memory storing instructions that, when executed by the one or more processors, causes the system to perform: generating initial trajectories along a route to be travelled by the vehicle; acquiring one or more trajectories of other vehicles along the route; adjusting the initial trajectories based on the one or more trajectories of other vehicles; and navigating the vehicle based on the adjusted initial trajectories.

In some embodiments, the generating the initial trajectories comprises: detecting one or more road markings or lane dividers; and generating the initial trajectories based on the detected one or more road markings or lane dividers.

In some embodiments, the generating the initial trajectories comprises creating the initial trajectories to be centered between two adjacent detected lane dividers.

In some embodiments, the generating the initial trajectories comprises: determining whether a road marking or lane divider can be detected; in response to determining that no road marking or lane divider can be detected: determining an initial trajectory that does not coincide with a path of an oncoming vehicle or a parked vehicle; and generating the determined initial trajectory.

In some embodiments, the adjusting the initial trajectories based on the one or more trajectories of other vehicles comprises adjusting the initial trajectories to match an average of the one or more trajectories of other vehicles.

In some embodiments, the adjusting the initial trajectories based on the one or more trajectories of other vehicles comprises determining an updated trajectory that maintains a predetermined distance between the updated trajectory and one or more trajectories of other vehicles on neighboring lanes.

In some embodiments, the generating the initial trajectories comprises: during a turn, generating a semicircular trajectory from a lane from which the vehicle is making a turn to a lane to which the vehicle is turning.

In some embodiments, the adjusting the initial trajectories comprises: during a turn, adjusting the initial trajectories based on a trajectory of another vehicle making a turn from another lane.

In some embodiments, the adjusting the initial trajectories comprises: during a turn, adjusting the initial trajectories based on a trajectory of another vehicle traveling from a lane opposite to the lane to which the vehicle is turning.

In some embodiments, the adjusting the initial trajectories comprises selecting, from the one or more trajectories of other vehicles, a trajectory corresponding to another vehicle based on a distance between the another vehicle and adjacent traffic or opposing traffic.

Various embodiments of the present disclosure provide a method implemented by a computing system including one or more processors and storage media storing machine-readable instructions, wherein the method is performed using the one or more processors. The method comprises generating initial trajectories along a route to be travelled by the vehicle; acquiring one or more trajectories of other vehicles along the route; adjusting the initial trajectories based on the one or more trajectories of other vehicles; and navigating the vehicle based on the adjusted initial trajectories.

In some embodiments, the generating the initial trajectories comprises: detecting one or more road markings or lane dividers; and generating the initial trajectories based on the detected one or more road markings or lane dividers.

In some embodiments, the generating the initial trajectories comprises creating the initial trajectories to be centered between two adjacent detected lane dividers.

In some embodiments, the generating the initial trajectories comprises: determining whether a road marking or lane divider can be detected. In response to determining that no road marking or lane divider can be detected: determining an initial trajectory that does not coincide with a path of an oncoming vehicle or a parked vehicle; and generating the determined initial trajectory.

In some embodiments, the adjusting the initial trajectories based on the one or more trajectories of other vehicles comprises adjusting the initial trajectories to match an average of the one or more trajectories of other vehicles.

In some embodiments, the adjusting the initial trajectories based on the one or more trajectories of other vehicles comprises determining an updated trajectory that maintains a predetermined distance between the updated trajectory and one or more trajectories of other vehicles on neighboring lanes.

In some embodiments, the generating the initial trajectories comprises: during a turn, generating a semicircular trajectory from a lane from which the vehicle is making a turn to a lane to which the vehicle is turning.

In some embodiments, the adjusting the initial trajectories comprises: during a turn, adjusting the initial trajectories based on a trajectory of another vehicle making a turn from another lane.

In some embodiments, the adjusting the initial trajectories comprises: during a turn, adjusting the initial trajectories based on a trajectory of another vehicle traveling from a lane opposite to the lane to which the vehicle is turning.

In some embodiments, the adjusting the initial trajectories comprises selecting, from the one or more trajectories of other vehicles, a trajectory corresponding to another vehicle based on a distance between the another vehicle and adjacent traffic or opposing traffic.

These and other features of the systems, methods, and non-transitory computer readable media disclosed herein, as well as the methods of operation and functions of the related elements of structure and the combination of parts and economies of manufacture, will become more apparent upon consideration of the following description and the appended claims with reference to the accompanying drawings, all of which form a part of this specification, wherein like reference numerals designate corresponding parts in the various figures. It is to be expressly understood, however, that the drawings are for purposes of illustration and description only and are not intended as a definition of the limits of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

Certain features of various embodiments of the present technology are set forth with particularity in the appended claims. A better understanding of the features and advantages of the technology will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings of which:

FIG. 1 illustrates an example environment of a system that generates initial trajectories along a route to be travelled by the vehicle, acquires one or more trajectories of other vehicles along the route, adjusts the initial trajectories based on the one or more trajectories of other vehicles, and navigates the vehicle based on the adjusted initial trajectories, according to an embodiment of the present disclosure.

FIGS. 2A-2G, 3A-3B, 4-9, 10A-10B, and 11-15 illustrate exemplary implementations of the system, according to an embodiment of the present disclosure.

FIG. 16 illustrates a flowchart of an example of a method according to some embodiments of the present disclosure.

FIG. 17 is a diagram of an example computer system for implementing the features disclosed herein.

DETAILED DESCRIPTION

FIG. 1 illustrates an example environment 100 of a system that generates initial trajectories along a route to be travelled by the vehicle, acquires one or more trajectories of other vehicles along the route, adjusts the initial trajectories based on the one or more trajectories of other vehicles, and navigates the vehicle based on the adjusted initial trajectories, according to an embodiment of the present disclosure. In FIG. 1A, a vehicle such as an autonomous vehicle 101 may include myriad sensors (LiDAR sensors 102, radar sensors 104, cameras 106, GPS, sonar, ultrasonic, IMU (inertial measurement unit), accelerometers, gyroscopes, magnetometers, and FIR (far infrared) sensors) to detect and identify objects in the surrounding. The sensor data may comprise pictorial or image data (e.g., pictures, videos), audio data, audiovisual data, atmospheric data (e.g., temperature, pressure, elevation, and/or the like) captured in either real-time or with a time delay. For example, the LiDAR sensors 102 can generate a three-dimensional map of the environment. The LiDAR sensors 102 can also detect objects in the environment. In another example, the radar systems 104 can determine distances and speeds of objects around the vehicle 101, and may be configured for adaptive cruise control and/or accident avoidance and blind spot detection. In another example, the cameras 106 can capture and process image data to detect and identify objects, such as road signs, as well as deciphering content of the objects, such as speed limit posted on the road signs. Such objects may include, but not limited to, pedestrians, road signs, traffic lights, and/or other vehicles, for example. In some embodiments, the cameras 106 can recognize, interpret, and analyze road signs (e.g., speed limit, school zone, construction zone, etc.) and traffic lights (e.g., red light, yellow light, green light, flashing red light, etc.). The vehicle 101 can also include myriad actuators to propel and navigate the vehicle 101 in the surrounding. Such actuators may include, for example, any suitable electro-mechanical devices or systems to control a throttle response, a braking action, a steering action, etc. In some embodiments, based on image data captured by the cameras 106, the vehicle 101 can adjust vehicle speed based on speed limit signs posted on roadways. For example, the vehicle 101 can maintain a constant, safe distance from a vehicle ahead (e.g., adaptive cruise control). In this example, the vehicle 101 maintains this safe distance by constantly adjusting its vehicle speed to that of the vehicle ahead.

In various embodiments, the vehicle 101 may navigate through roads, streets, and/or terrain with limited or no human input. The word “vehicle” or “vehicles” as used in this paper includes vehicles that travel on ground (e.g., cars, trucks, bus, etc.), but may also include vehicles that travel in air (e.g., drones, airplanes, helicopters, etc.), vehicles that travel on water (e.g., boats, submarines, etc.). Further, “vehicle” or “vehicles” discussed in this paper may or may not accommodate one or more passengers therein. Moreover, phrases “autonomous vehicles,” “driverless vehicles,” or any other vehicles that do not require active human involvement can be used interchangeably.

In general, the vehicle 101 can effectuate any control to itself that a human driver can on a conventional vehicle. For example, the vehicle 101 can accelerate, brake, turn left or right, or drive in a reverse direction just as a human driver can on the conventional vehicle. The vehicle 101 can also sense environmental conditions, gauge spatial relationships (e.g., distances between objects and itself), detect and analyze road signs just as the human driver. Moreover, the vehicle 101 can perform more complex operations, such as parallel parking, parking in a crowded parking lot, collision avoidance, etc., without any human input.

The vehicle 101 may be connected, via a communication network 110, to at least one computing system 122 that includes one or more processors and memory. The one or more processors may be configured to perform various operations by interpreting machine-readable instructions. In some embodiments, the example environment 100 may be implemented as a data platform. In some embodiments, the example environment 100 may be configured to interact with computing systems of the data platform. In various embodiments, one or more computing systems of the data platform may receive and process search queries to obtain sensor data, process the sensor data, determine an action, and/or perform the action such as a driving action.

In some embodiments, the computing system 122 may include sensing engine 123, generating engine 124, acquiring engine 125, adjusting engine 126, and navigating engine 127. The sensing engine 123 may be configured to control operations of or relating to the sensors such as the LiDAR sensors 102, radar systems 104 and cameras 106, and processing data acquired by the sensors. In general, the computing system 122 may be implemented, in whole or in part, with software that is capable of running on the computing system 122. In one example, the computing system 122 may be implemented as or within a software application running on one or more computing devices (e.g., user or client devices) and/or one or more servers (e.g., network servers or cloud servers, servers 112). In some instances, various aspects of the sensing engine 123, the generating engine 124, the acquiring engine 125, the adjusting engine 126, and the navigating engine 127 may be implemented in one or more computing systems and/or devices. In some instances, one or more of the sensing engine 123, the generating engine 124, the acquiring engine 125, the adjusting engine 126, and the navigating engine 127 may be combined or integrated into a single processor, and some or all functions performed by one or more of the sensing engine 123, the generating engine 124, the acquiring engine 125, the adjusting engine 126, and the navigating engine 127 may not be spatially separated, but instead may be performed by a common processor. The environment 100 may also include one or more servers 112 accessible to the computing system 122. The one or more servers 112 may store sensor data from the vehicle 101, one or more sensors of other vehicles such as another vehicle 120, which may be an AV, one or more satellite maps, and/or one or more road sensors such as sensors on traffic lights. In some embodiments, the one or more servers 112 may integrate data from different sensors. In other embodiments, the one or more servers 112 may keep the data from the different sensors separate. The one or more servers 112 may be accessible to the computing system 122 either directly or over the communication network 110. In some embodiments, the one or more servers 112 may store data that may be accessed by the sensing engine 123, the generating engine 124, the acquiring engine 125, the adjusting engine 126, and the navigating engine 127 to provide the various features described herein. In some embodiments, the one or more servers 112 may store data that may be accessed by the another vehicle 120. As an example, data from the sensing engine 123 may be stored in the one or more servers 112 and accessed by the another vehicle 120. The another vehicle 120 may also acquire data from the vehicle 101, either directly in an ad-hoc network, or through the one or more servers 112. In some instances, the one or more servers 112 may include federated data stores, databases, or any other type of data source from which data may be stored and retrieved, for example. In some implementations, the one or more servers 112 may include various types of data sets on which determinations of accuracy or consistency with other information can be made. In general, a user operating a computing device can interact with the computing system 122 over the communication network 110, for example, through one or more graphical user interfaces and/or application programming interfaces.

The sensing engine 123 may be configured to process data acquired from the sensors such as the LiDAR sensors 102, radar systems 104 and cameras 106, and detect a signal from a source (e.g., another vehicle such as the another vehicle 120, a pedestrian, or a road sign). In some embodiments, the signal may be a flashing light, a flashing row of lights, a blinking light, or a blinking row of lights on a side of the source facing the vehicle 101. The flashing or blinking light or the flashing or blinking row of lights may indicate that the source intends to overtake the vehicle 101 and to switch into a lane occupied by the vehicle 101, at a position in front of the vehicle 101. The sensing engine 123, in some embodiments, may be configured to determine a relative position of the source with respect to the vehicle 101. For example, the sensing engine 123 may be configured to determine whether the vehicle 101 is completely in front of or completely behind the source, with respect to a travelling or driving direction of the vehicle 101. If the source is not completely in front of or completely behind the vehicle 101 (for example, if a back portion of the vehicle 101 is aligned with a front portion of a source, and the vehicle 101 and the source), the sensing engine 123 may detect a lateral movement of the source even if the source does not signal. The lateral movement may be a movement from a lane occupied by the source towards a lane occupied by the vehicle 101, in a direction perpendicular to the driving direction of the vehicle 101. In some examples, the sensing engine 123 may detect whether a distance of a lateral movement, or how much the source has decreased its lateral distance from the vehicle 101, is above a threshold. In such a manner, the sensing engine 123 may be configured to detect whether a source (e.g., the another vehicle 120) is intending to overtake the vehicle 101 and to make a lane change, even when the source does not provide a signal, which may occur when the source has broken signals (e.g., lights not working). In some embodiments, the sensing engine 123 may only detect a lateral movement of a source if the source is not completely in front of or behind the vehicle 101, or if the source is within a field of view of the vehicle 101. In some embodiments, the sensing engine 123 may further be configured to detect pedestrians or people, for example, crossing a street. The sensing engine 123 may further be configured to recognize walking movements of pedestrians or people, and to recognize hand gestures or hand signals from pedestrians such as an upraised hand to indicate that the pedestrian is intending to cross a street. The sensing engine 123 may further be configured to detect and distinguish bicycles and motorcycles from other vehicles.

In response to the sensing engine 123 detecting and/or processing a signal, the generating engine 124 may generate an initial trajectory. The generating engine 124 may detect lane dividers, traffic dividers, arrows, and/or traffic signs. The generating engine 124 may detect one or more road markings or lane dividers, and generate the initial trajectories based on the detected one or more road markings or lane dividers. In some embodiments, the generating engine 124 may generate the initial trajectories to be centered between two adjacent detected lane dividers. In some embodiments, the generating engine 124 may also generate an initial trajectory even if no road marking or lane divider can be detected. The generating engine 124 may determine whether a road marking or lane divider can be detected, and in response to determining that no road marking or lane divider can be detected, determine an initial trajectory that does not coincide with a path of an oncoming vehicle or a parked vehicle, and generating the determined initial trajectory. during a turn, generating a semicircular trajectory from a lane from which the vehicle is making a turn to a lane to which the vehicle is turning. In some embodiments, the generating engine 124 may generate an initial trajectory during a turn. The generating engine 124 may generate a semicircular trajectory from a lane from which the vehicle (e.g., 101) is making a turn to a lane to which the vehicle is turning.

The acquiring engine 125 may, using one or more of the sensors (LiDAR sensors 102, radar sensors 104, cameras 106, GPS, sonar, ultrasonic, IMU (inertial measurement unit), accelerometers, gyroscopes, magnetometers, and FIR (far infrared) sensors) of the vehicle 101, acquire one or more trajectories of other vehicles along a driving route, while the vehicle 101 is driving. In some embodiments, the acquiring engine 125 may acquire one or more trajectories of vehicles while driving along a road, turning onto another road, turning into a mall, parking lot, or plaza, parking along a road, or conducting other driving actions. In some embodiments, the acquiring engine 125 may selectively filter trajectories, removing the trajectories for vehicles that have been involved in accidents. The acquiring engine 125 may select, from the acquired trajectories, only trajectories for which a distance from opposing traffic, traffic on adjacent lanes, and/or parked vehicles, is greater than a respective threshold.

The adjusting engine 126 may adjust the initial trajectories based on the one or more acquired trajectories of other vehicles, captured by the acquiring engine 125. The one or more acquired trajectories may comprise historical trajectories. In some embodiments, the adjusting engine 126 may adjust the initial trajectories to match an average of the one or more trajectories of other vehicles. For example, the average of the one or more trajectories of other vehicles may be computed by determining average coordinates of other vehicles within a specified time range on a particular lane or section of a road. The average coordinates may indicate a location of a road that a vehicle is driving on with respect to lane dividers, traffic dividers, and/or a curb or sidewalk. In some embodiments, the adjusting engine 126 may update the initial trajectory such that an updated trajectory maintains a predetermined distance with one or more trajectories of other vehicles, such as other vehicles on neighboring lanes and/or other vehicles of opposing traffic. In some embodiments, the adjusting engine 126 may adjust the initial trajectories during a turn. For example, the adjusting engine 126 may adjust the initial trajectories based on a trajectory of another vehicle making a turn from another lane, or adjust the initial trajectories based on a trajectory of another vehicle travelling from a lane opposite to the lane to which the vehicle 101 is turning. For example, during a turn, the adjusting engine 126 may adjust the initial trajectories to maintain a predetermined distance from current neighboring traffic, traffic opposite a direction from which the vehicle 101 is currently travelling, traffic opposite a direction to which the vehicle 101 is turning, and/or acquired trajectories of such neighboring traffic, traffic opposite a direction from which the vehicle 101 is currently travelling, and traffic opposite a direction to which the vehicle 101 is turning.

In some embodiments, the adjusting engine 126 may adjust the initial trajectories based on road conditions and/or traffic conditions. In some embodiments, in response to the acquiring engine 125 detecting that a source (e.g., the another vehicle 120) intends to overtake the vehicle 101 and change into the lane occupied by the vehicle 101, the determining engine 126 may determine whether or not to yield to the source (e.g., slowing down to allow the another vehicle 120 to merge into the lane occupied by the vehicle 101). In some embodiments, yielding comprises slowing down until the source is completely in front of the vehicle 101. In some embodiments, the determining whether or not to yield to the source may be based on any of a safety of yielding, whether it is possible for the source to fit into the lane occupied by the vehicle 101, how much additional time yielding to the source may consume or is predicted to consume, such as whether or not yielding is predicted to result in the vehicle 101 having to wait at or being stuck at a red light, an urgency or a priority of the source and of other vehicles behind the vehicle 101, and whether allowing the source to enter into the lane occupied by the vehicle 101 would, or is predicted to, result in a traffic imbalance or congestion in the lane occupied by the vehicle 101.

In some embodiments, the adjusting engine 126 may determine potential trajectories of the vehicle and select a trajectories, from the potential trajectories of the vehicle, that consumes a least amount of resources, such as electricity, fuel, time, or system memory consumption, and/or has a least amount of interference with one or more other vehicles or pedestrians. In some examples, if the another vehicle 120 has signaled an intent to change into the lane occupied by the vehicle 101, the adjusting engine 126 may determine whether yielding to the another vehicle 120 is predicted to cause delay for the vehicle 101 and surrounding traffic such as traffic behind the vehicle 101, such as causing the vehicle 101 and surrounding traffic travelling in a same lane as the vehicle 101, to get caught in a red light.

In some embodiments, the adjusting engine 126 may be configured to determine whether to respond to two signals from two respective sources with a single intended action. In some examples, if another vehicle on a right side of the vehicle 101, and another vehicle on a left side of the vehicle 101 have both signaled intentions to overtake the vehicle 101 and to merge into the lane occupied by the vehicle 101, the adjusting engine 126 may determine whether or not to yield to both vehicles, only one of the two vehicles, or yield to none of the vehicles. In some examples, the adjusting engine 126 may determine to yield to only one of the two vehicles. For example, if the adjusting engine 126 determines that enough space in front of the vehicle 101 exists for only one more vehicle but not for two more vehicles, then the adjusting engine 126 may determine to yield to only one of the two vehicles. The adjusting engine 126 may select which one of the two vehicles to yield to based on a priority of each of the two vehicles. In some examples, the adjusting engine 126 may select one of the two vehicles to yield to based on which vehicle signaled first, a current location of the two vehicles relative to the vehicle 101, an intended destination of the two vehicles, which vehicle more urgently needs to merge into the lane occupied by the vehicle 101, and a type of each of the vehicles. For example, the adjusting engine 126 may select the vehicle that signaled first, to allow to yield into the lane occupied by the vehicle 101. In other examples, the adjusting engine 126 may select the vehicle that is in front, and therefore has a shorter distance to travel in order to overtake the vehicle 101. In other examples, the adjusting engine 126 may select the vehicle that needs to change lanes to exit a highway urgently, or make a turn at an intersection, rather than a vehicle that is merely trying to change lanes to get to a faster lane such as a lane with less traffic or faster driving vehicles. In other examples, the adjusting engine 126 may select the vehicle that is smaller to allow to yield into the lane occupied by the vehicle 101. In other examples, the adjusting engine 126 may select one of the two vehicles based on traffic in respective lanes occupied by the two vehicles. For example, if a left lane has more traffic congestion ahead compared to a right lane, the adjusting engine 126 may select the vehicle currently occupying the right lane because it may be easier for the vehicle currently occupying the right lane to overtake the vehicle 101.

In some embodiments, if another vehicle such as the another vehicle 120 tries to force itself into the lane occupied by the vehicle 101, the adjusting engine 126 may take an action such as slowing down or stopping, in order to prevent an accident, and provide an audio or visual alert to vehicles behind the vehicle 101.

In some embodiments, the adjusting engine 126 may further be configured to determine whether to yield to one or more pedestrians, bicyclists, and/or motorcyclists. In some embodiments, the adjusting engine 126 may automatically determine to yield to a pedestrian if a predicted path of the pedestrian, based on a movement trajectory of the pedestrian, is within a threshold distance of a predicted path of the vehicle 101, no matter whether or not the pedestrian has signaled. In some embodiments, the adjusting engine 126 may automatically determine to yield to a bicycle if a predicted path of the bicycle, based on a movement trajectory of the bicycle, is within a threshold distance of a predicted path of the vehicle 101, no matter whether or not the bicyclist has signaled. In some embodiments, the adjusting engine 126 may automatically determine to yield to a motorcycle if a predicted path of the motorcycle, based on a movement trajectory of the motorcycle, is within a threshold distance of a predicted path of the vehicle 101, no matter whether or not the motorcyclist has signaled.

In response to the adjusting engine 126 determining an action, the adjusting engine 126 may send a response signal indicating the intended action to the source, in some embodiments. In some embodiments, if the action is yielding to a source, the adjusting engine 126 may, as the response signal, shine a pulsed light moving back and forth or side or side, on a side of the vehicle 101 nearest the source. In some embodiments, the adjusting engine 126 may adjust a brightness or a frequency of the response signal, such as the pulsed light moving back and forth, depending on a weather and/or visibility condition. As an example, during nighttime the adjusting engine 126 may increase the brightness and/or the frequency (e.g., speed at which the pulsed light moves back and forth) compared to the brightness and/or frequency during daytime. As another example, during inclement weather such as rain, hail, snow, hurricane, or tornado, the adjusting engine 126 may increase the brightness and/or the frequency.

In some examples, if the source is the another vehicle 120 that is on a right side of the vehicle 101, the adjusting engine 126 may shine a pulsed light moving back and forth on the right side of the vehicle. In some examples, if multiple sources from different sides are detected by the acquiring engine 125, the adjusting engine 126 may send a response signal from each of the different sides. If the multiple sources include other vehicles on a left side and a right side of the vehicle 101, the adjusting engine 126 may shine a pulsed light moving back and forth on both the left side and the right side of the vehicle 101. In some examples, if the source is a pedestrian in front of the vehicle 101, the adjusting engine 126 may shine a pulsed light moving back and forth on a front of the vehicle 101.

After adjusting engine 126 has sent a response signal to the source, the acquiring engine 125 may further determine whether the source has sent a response to the response signal. In some examples, the response to the response signal may comprise the source (e.g., another vehicle 120) speeding up to overtake the vehicle 101 while continuing to signal that the source intends to merge into the same lane as the vehicle 101. The acquiring engine 125 may transmit the response to the response signal to the adjusting engine 126.

The adjusting engine 126 may confirm whether or not to take the action based on the response to the response signal. In some examples, the adjusting engine 126 may predict one or more responses to the response signal. The adjusting engine 126 may determine whether the response to the response signal matches one of the predicted one or more responses. For example, the adjusting engine 126 may predict that one or more responses to the response signal (e.g., indication of yielding) includes the source (e.g., another vehicle 120) speeding up to overcome the vehicle 101 while continuing to signal, or that the source flashes a light or moves a light pattern in a specific configuration back and forth. If the response, by the another vehicle 120, to the response signal is that the another vehicle 120 does indeed speed up and/or continue to signal, the adjusting engine 126 may determine that the response to the response signal does match one the predicted response, and confirm to take the intended action of yielding (e.g., slowing down the vehicle 101). In another example, if the adjusting engine 126 has sent a response signal to a walking pedestrian in front of the vehicle 101, the adjusting engine 126 may predict that one or more responses to the response signal (e.g., indication of yielding) includes the source (e.g., pedestrian) walking past the vehicle 101, perpendicular to a driving direction of the vehicle 101. If the pedestrian does walk past the vehicle 101, perpendicular to a driving direction of the vehicle 101 the adjusting engine 126 may determine that the response to the response signal does match one the predicted response, and confirm to take the action of yielding to the pedestrian (e.g., stopping the vehicle 101).

On the other hand, if the response, by the another vehicle 120, to the response signal is that the another vehicle 120 slows down and/or stops signaling, then the adjusting engine 126 may determine that the response to the response signal fails to match the predicted response, and the adjusting engine 126 may infer that the another vehicle 120 no longer intends to overtake the vehicle 101 to merge into the lane occupied by the vehicle 101. Similarly, if the response, by the pedestrian, to the response signal is that the pedestrian stops walking and/or walks parallel to a driving direction of the vehicle 101, then the adjusting engine 126 may determine that the response to the response signal fails to match the predicted response, and the adjusting engine 126 may infer that the pedestrian does not intend to walk past the vehicle 101. In such scenarios, the adjusting engine 126 may determine not to take the intended action of yielding. In some embodiments, if the adjusting engine 126 determines that the response to the response signal fails to match the predicted response, the adjusting engine 126 may resend the response signal to the source (e.g., another vehicle 120, or a pedestrian).

If the acquiring engine 125 fails to detect any response to the response signal, or if the response to the response signal fails to match one or more of the predicted responses, the adjusting engine 126 may resend the response signal. In some examples, the adjusting engine 126 may resend the response signal at an increased brightness and/or frequency to make sure what the intention of the source is. The adjusting engine 126 may further determine whether the pedestrian is blind. In response to the adjusting engine 126 determining that the pedestrian is blind, the adjusting engine 126 may send an audio signal rather than a visual signal to the pedestrian.

After the adjusting engine 126 resends the response signal to the source, the acquiring engine 125 may detect or determine whether the source has sent a response to the resent response signal. In response to the acquiring engine 125 determining that the source has not sent a response, the adjusting engine 126 may determine not to take the intended action (e.g., yielding), and may determine to continue driving at normal speed and/or normal mode. In response to the acquiring engine 125 determining that the source has sent a response, the adjusting engine 126 may determine whether the response matches one of the predicted responses as explained above, and determines or confirms whether to take the intended action based on whether the response matches one of the predicted responses. In response to the adjusting engine 126 determining that the response to the response signal does not match one or more of the predicted responses, the adjusting engine 126 may determine an alternative action or intended action, such as selecting from another of the potential intended actions of the vehicle with a second least amount of resources consumed, and/or has a second least amount of interference with other vehicles or pedestrians.

FIGS. 2A-2G, 3A-3B, 4-9, 10A-10B, and 11-15 illustrate exemplary implementations of the system, according to embodiments of the present disclosure. In FIGS. 2A-2G, 3A-3B, 4-9, 10A-10B, and 11-15 , any reference to a vehicle performing a determination or taking an action may be understood to mean that one or more processors of the vehicle may perform the determination or take the action. In FIGS. 2A-2G, a vehicle (e.g., 210, 220, 230, 240, 260, 270) may generate an initial trajectory and update the initial trajectory in various driving or road situations. In FIGS. 3A-3B, and 4-9 , a vehicle (e.g., 310, 360, 410, 510, 610, 710, 810, or 910) may determine whether or not to perform an action of yielding. In FIGS. 10A, 10B, and 11-15 , a vehicle (e.g., 1010, 1110, 1310, 1360, 1410, 1510) may determine whether or not to perform another action such as making a left turn, passing a vehicle, pulling over to a side of a road, making a right turn on a red light, passing a stopped bus, or whether to proceed or yield at an intersection or a stop sign. Additionally, a vehicle may take a measure based on a likelihood of avoiding a collision with one or more other vehicles or a pedestrian.

In FIG. 2A, a computing system (e.g., the computing system 122, or the generating engine 124) may generate an initial trajectory 212 of a vehicle 210, which may be implemented as vehicle 101. The initial trajectory 212 may be generated to be in a center between two lanes, or in a center between a lane and a yellow lane line, median strip, or center divider. During a turn, the initial trajectory 212 may be generated to be a semicircle extending from a center of a lane where the vehicle 210 is turning from to a center of a lane where the vehicle 210 is turning to.

In FIG. 2B, a computing system (e.g., the computing system 122, or the adjusting engine 126), may adjust an initial trajectory of the vehicle 210. An adjusted initial trajectory may be generated using historical trajectories, for example, previously recorded trajectories of other vehicles at a recent time, such as within a day, week, or month. In some embodiments, an updated trajectory 218 may be generated by taking an average of previously recorded trajectories 213, 214, 215, 216, and 217 of other vehicles traveling on a same lane. Taking an average of the previously recorded trajectories 213, 214, 215, 216, and 217 may encompass determining average coordinates of the previously recorded trajectories 213, 214, 215, 216, and 217, for example, determining an average distance of the previously recorded trajectories from a lane divider 211 or a yellow lane line, median strip, or center divider 219. In some embodiments, the adjusted initial trajectory may be determined based on selected previously recorded trajectories, such as previously recorded trajectories for which a distance to vehicles on an opposite side, or a distance to vehicles on a same side, is greater than or equal to a respective threshold.

In FIG. 2C, a computing system (e.g., the computing system 122, or the adjusting engine 126) may adjust an initial trajectory of a vehicle 220, which may be incorporated as the vehicle 101, to account for an obstacle 221, such as a pothole, bump, or rock on a road. An adjusted initial trajectory 228 may be generated using historical trajectories 223, 224, 225, 226 and 227, which may encompass previously recorded trajectories of other vehicles at a recent time, such as within a day, week, or month. In some embodiments the adjusted initial trajectory 228 may be computed by an average of the historical trajectories 223, 224, 225, 226, and 227.

In FIG. 2D, a computing system (e.g., the computing system 122, or the adjusting engine 126), may adjust an initial trajectory of a vehicle 230, which may be implemented as the vehicle 101. An adjusted initial trajectory may be generated using historical trajectories, for example, previously recorded trajectories of other vehicles at a recent time, such as within a day, week, or month. In some embodiments, an updated trajectory 238 may be generated by taking an average of selected previously recorded trajectories, such as 233, 234, 235, 236, and 237 of other vehicles traveling on a same lane. The selected previously recorded trajectories may be chosen based on the distances between each of the previously recorded trajectories and one or more trajectories 231 on an opposite side of traffic, and/or one or more trajectories 239 on another lane of a same side of traffic. For example, the selected previously recorded trajectories may be greater than or equal to a distance from the one or more trajectories 231 on an opposite side of traffic and/or a distance from the one or more trajectories 239 on another lane of a same side of traffic. In another example, the selected previously recorded trajectories may be equidistant from the one or more trajectories 231 on an opposite side of traffic and the one or more trajectories 239 on another lane of a same side of traffic.

In FIG. 2E, a computing system (e.g., the computing system 122, or the adjusting engine 126), may adjust an initial trajectory of a vehicle 240, which may be implemented as the vehicle 101, and a vehicle 248, while the vehicle 240 and the vehicle 248 are operating during a turn. Similar to the principles as explained above with reference to FIGS. 1 and 2A-2D, an initial trajectory of the vehicle 240 during a turning operation may be determined using a center of a lane from which the vehicle 240 is turning, a center of a lane to which the vehicle 240 is turning, and a semicircular arc between the two. An updated trajectory 241 may be determined based on a trajectory 243 of a vehicle 242 travelling in a same direction in an adjacent lane to the lane from which the vehicle 240 is turning, a trajectory 245 of a vehicle 244 travelling in a direction opposite from the lane to which the vehicle 240 is turning, and a trajectory 249 of the vehicle 248 that is turning from an opposite side. For example, the updated trajectory 241 may be determined such that the updated trajectory 241 maintains at least a predetermined distance from the trajectory 243, the trajectory 245, and/or the trajectory 249, while avoiding a collision with a vehicle 246 travelling from an opposite side with a trajectory 247.

In FIG. 2F, a computing system (e.g., the computing system 122, or the adjusting engine 126), may adjust an initial trajectory of a vehicle 260, which may be implemented as the vehicle 101, while the vehicle 260 is turning into a parking lot 263. In some examples, an entrance to the parking lot 263 may not include clear lane dividers to separate vehicles entering the parking lot 263 and vehicles leaving the parking lot 263. In such examples, the computing system 122 (e.g., generating engine 124) may generate an initial trajectory such that the vehicle 260 occupies at most a half of the entrance of the parking lot 263. For example, the generating engine 124 may generate an initial trajectory that is one-quarter of the way from one side (e.g., a right side) of the entrance and three-quarters of the way from an opposing side (e.g., a left side) of the entrance, so that enough room may be left for a vehicle that is also leaving the parking lot 263 at a same time. In some embodiments, the computing system 122 may adjust the initial trajectory of the vehicle 260 based on other trajectories of other vehicles entering the parking lot 263, as well as other trajectories of other vehicles leaving the parking lot 263. For instance, the computing system may generate an adjusted trajectory 261 while taking into account a trajectory 262 of another vehicle travelling in an opposite direction and leaving the parking lot 263, so that the adjusted trajectory 261 maintains a predetermined distance from the trajectory 262 of another vehicle travelling in an opposite direction. In some embodiments, the trajectory 262 may represent an average of previously acquired trajectories.

In FIG. 2G, a computing system (e.g., the computing system 122, or the adjusting engine 126), may adjust an initial trajectory of a vehicle 270, which may be implemented as the vehicle 101, while the vehicle 270 is attempting to park between two vehicles 262 and 273. An initial trajectory may be generated based on a distance of the vehicle 270 from a curb and a final distance of the vehicle 270 from the curb when the vehicle is parked. An updated trajectory 271 may be generated so that the trajectory does not collide with or coincide with the vehicles 272 and 273, and a currently driving vehicle 274. In other words, the updated trajectory may maintain at least a predetermined distance from each of the vehicles 272, 273, and 274, while moving to a final parking spot at which the vehicle 271 is within a certain distance from the curb.

In the implementation 300 of FIG. 3A, a vehicle 310, which may be implemented as vehicle 101, may be driving in a lane 330. The vehicle 310 may comprise an array 312 of lights, which may include lights 313, 314, 315, 316, and 317. In some embodiments, the array 312 may comprise any number of lights. Five lights are shown merely for illustrative purposes. Another vehicle 320, which may be an AV, may be driving in a lane 340 to a left side of the vehicle 310. The another vehicle 320 may comprise an array 322 of lights, which may include lights 323, 324, 325, 326, and 327, on a right side of the another vehicle 320, which is the side closest to the vehicle 310. In some embodiments, the array 322 may comprise any number of lights. Five lights are shown merely for illustrative purposes. The another vehicle 320 may flash or blink the array 322 of lights such that each of the lights 323, 324, 325, 326, and 327 may be flashing or blinking (shown as darkened), in order to signal to the vehicle 310 that the another vehicle 320 intends to pass or overtake the vehicle 310 and merge into the lane 330. In some embodiments, the signal from the another vehicle 320 may only be shown on a side closest to the vehicle 310. For example, no lights on a front, back, or left portion of the another vehicle 320 may be flashing or blinking. In response to the another vehicle 320 flashing or blinking the array 322 of lights, the vehicle 310 may detect and recognize, via one or more processors such as the detecting engine 125, the determining engine 126, and/or other processors, that the another vehicle 320 intends to merge into the lane 330. The vehicle 310 may be configured to recognize different patterns or sequences of flashing or blinking lights, or other signals, as signals or indications that the another vehicle 320 intends to merge into the lane 330. The vehicle 310 may, via a processor such as the determining engine 126, provide a response signal that the vehicle 310 intends to yield to the another vehicle 320 and allow the another vehicle 320 to merge into the lane 330. The response signal may be that the array 312 of lights pulses or moves from side to side or back and forth. For example, only one or only some of the lights in the array 312 may be illuminated, flashing, or flickering at one time. Initially, only the light 313 (shown as darkened) may be illuminated, flashing, or flickering; then the light 317 may be illuminated, flashing, or flickering; next, the light 316 may be illuminated, flashing, or flickering; subsequently, the light 315 may be illuminated, flashing, or flickering; then, the light 314 may be illuminated, flashing, or flickering. In some embodiments, two adjacent lights may be illuminated, flashing, or flickering at one time, as the response signal of the vehicle 310. As an example, initially, only the lights 313 and 314 may be illuminated, flashing, or flickering; then the lights 313 and 317 may be illuminated, flashing, or flickering; next, the lights 316 and 317 may be illuminated, flashing, or flickering; subsequently, the lights 315 and 316 may be illuminated, flashing, or flickering; then, the lights 314 and 315 may be illuminated, flashing, or flickering. In some embodiments, the response signal may only be shown on a side closest to the another vehicle 320. For example, no lights on a front, back, or right portion of the vehicle 310 may be illuminated, flashing, or flickering. The another vehicle 320 may be configured to detect different patterns or sequences of illuminated, flashing, or flickering lights from the vehicle 310, as a signal that the vehicle 310 intends to yield. Upon detecting that the vehicle 310 intends to yield, the another vehicle 320 may speed up to overtake the vehicle 310 and merge into the lane 330, according to a trajectory 328, which is determined based on a speed of the vehicle 320, a speed of the vehicle 310, and relative distances between the vehicles 320 and 310. Once the another vehicle 320 has completed merging into the lane 330, a processor such as the responding engine 128 may cause the array 312 to terminate the response signal so that none of the lights in the array 312 is illuminated, flashing, or flickering. Additionally, the another vehicle 320 may terminate the signal so that none of the lights in the array 322 of lights is illuminated, flashing, or flickering.

In the implementation 350 of FIG. 3B, a vehicle 360, which may be implemented as vehicle 101, may be driving in a lane 380. The vehicle 360 may comprise an array 362 of lights, which may include lights 363, 364, 365, 366, and 367. In some embodiments, the array 362 may comprise any number of lights. Five lights are shown merely for illustrative purposes. Another vehicle 370, which may be an AV, may be driving in a lane 390 to a left side of the vehicle 360. The another vehicle 370 may comprise an array 372 of lights, which may include lights 373, 374, 375, 376, and 377, on a right side of the another vehicle 370, which is the side closest to the vehicle 360. In some embodiments, the array 372 may comprise any number of lights. Five lights are shown merely for illustrative purposes. The implementation of FIG. 3B may be similar to that of FIG. 3A, except that the another vehicle 370 is completely behind the vehicle 360. In other words, no portion of the vehicle 360 is aligned with any portion of the another vehicle 370. The vehicle 360 may still detect the signal from the another vehicle 370 that the another vehicle 370 intends to merge into the lane 380 in front of the vehicle 360. The another vehicle 370 may merge into the lane 380 according to a trajectory 378, which is determined based on a speed of the another vehicle 370, a speed of the vehicle 360, and relative distances between the another vehicle 370 and the vehicle 360. The vehicle 360 may signal to the another vehicle 370 with the array 362 of lights that the vehicle 360 intends to yield, and slow down to allow the another vehicle 370 to overtake the vehicle 360.

In the implementation 400 of FIG. 4 , a vehicle 410, which may be implemented as vehicle 101, may be driving in a lane 480. The vehicle 410 may comprise an array 412 of lights, which may include lights 413, 414, 415, 416, and 417. In some embodiments, the array 412 may comprise any number of lights. Five lights are shown merely for illustrative purposes. Another vehicle 420, which may be an AV, may be driving in a lane 490 to a left side of the vehicle 410. The another vehicle 420 may comprise an array 422 of lights, which may include lights 423, 424, 425, 426, and 427, on a right side of the another vehicle 420, which is the side closest to the vehicle 410. In some embodiments, the array 422 may comprise any number of lights. Five lights are shown merely for illustrative purposes. The implementation of FIG. 4 may be similar to that of FIGS. 3A and 3B, except that the another vehicle 420 may not be signaling with the array 422 of lights. As shown in FIG. 4 , the array 422 of lights is not flashing or blinking. However, the vehicle 410 may still detect a lateral movement from the another vehicle 420 towards the vehicle 410, such as a distance of a lateral movement towards the vehicle 410 that exceeds a threshold amount. The lateral movement may be in a direction perpendicular to the driving direction of the vehicle 410. The vehicle 410 may detect the lateral movement as a signal that the another vehicle 420 intends to merge into the lane 480. The vehicle 410 may then determine to yield to the another vehicle 420, signal to the another vehicle 420 that the vehicle 410 intends to yield with the array 412 of lights, and slow down to allow the another vehicle 420 to overtake the vehicle 410. The another vehicle 420 may overtake the vehicle 410 using a trajectory 428. In some embodiments, the vehicle 410 may only detect the lateral movement of a vehicle (such as another vehicle 420) if the another vehicle 420 is not completely behind or ahead of the vehicle 410. If the another vehicle 420 is completely behind or ahead of the vehicle 410, the vehicle 410 may only detect that the another vehicle 420 intends to merge into the lane 480 if the another vehicle 420 signals via the array 422.

In the implementation 500 of FIG. 5 , a vehicle 510, which may be implemented as vehicle 101, may be driving in a lane 580. The vehicle 510 may comprise an array 512 of lights on a left side of the vehicle 510, which may include lights 513, 514, 515, 516, and 517. In some embodiments, the array 512 may comprise any number of lights. Five lights are shown merely for illustrative purposes. The vehicle 510 may further comprise a second array 532 of lights at a front side. The second array 532 may include lights 533, 534, and 535. In some embodiments, the second array 532 may comprise any number of lights. Three lights are shown merely for illustrative purposes. In response to the one or more pedestrians 540 making a hand signal or walking onto a road, the vehicle 510 may detect and recognize, via one or more processors of the computing system 122, such as the acquiring engine 125, that the one or more pedestrians 540 intend to cross the road. The vehicle 510 may, via a processor such as the adjusting engine 126, provide a response signal that the vehicle 510 intends to yield to the one or more pedestrians 540 and allow the one or more pedestrians 540 to cross the road through the lane 580 and lane 590. The response signal may be that the second array 532 of lights pulses or moves from side to side or back and forth. For example, only one or only some of the lights in the array 532 may be illuminated, flashing, or flickering at one time. Initially, only the light 534 (shown as darkened) may be illuminated, flashing, or flickering; then the light 535 may be illuminated, flashing, or flickering; next, the light 533 may be illuminated, flashing, or flickering. In some embodiments, two adjacent lights may be illuminated, flashing, or flickering at one time, as the response signal of the vehicle 510. As an example, initially, only the lights 533 and 534 may be illuminated, flashing, or flickering; then the lights 534 and 535 may be illuminated, flashing, or flickering; next, the lights 535 and 536 may be illuminated, flashing, or flickering. In some embodiments, the response signal may only be shown on a side closest to the one or more pedestrians 540. For example, no lights on a left, back, or right portion of the vehicle 510 may be illuminated, flashing, or flickering. As seen in FIG. 5 , only the second array 532 of lights may be illuminated, flashing, or flickering, and the array 512 of lights may not be illuminated, flashing, or flickering. Upon detecting that the vehicle 510 intends to yield, the one or more pedestrians 540 may cross the road. The vehicle 510 may be completely stopped while the one or more pedestrians 540 are crossing the road. Once the one or more pedestrians 540 have finished crossing the road, a processor such as the responding engine 128 may cause the array 532 to terminate the response signal so that none of the lights in the array 532 is illuminated, flashing, or flickering. The vehicle 510 may then proceed driving.

In the implementation 600 of FIG. 6 , a vehicle 610, which may be implemented as vehicle 101, may be driving in a lane 680. The vehicle 610 may comprise an array 612 of lights, which may include lights 613, 614, 615, 616, and 617, on a left side of the vehicle 610, and an array 602 of lights, which may include lights 603, 604, 605, 606, and 607, on a right side of the vehicle 610. In some embodiments, the array 612 and the array 602 may comprise any number of lights. Five lights are shown merely for illustrative purposes. A second vehicle 620, which may be an AV, may be driving in a lane 690 to a left side of the vehicle 610. The second vehicle 620 may comprise an array 622 of lights, which may include lights 623, 624, 625, 626, and 627, on a right side of the second vehicle 620, which is the side closest to the vehicle 610. The second vehicle 620 may flash or blink the array 622 of lights such that each of the lights 623, 624, 625, 626, and 627 may be flashing or blinking (shown as darkened), in order to signal to the vehicle 610 that the second vehicle 620 intends to pass or overtake the vehicle 610 and merge into the lane 680, for example, via a trajectory 628. In some embodiments, the signal from the second vehicle 620 may only be shown on a side closest to the vehicle 610. For example, no lights on a front, back, or left portion of the second vehicle 620 may be flashing or blinking. A third vehicle 640, which may be an AV, may be driving in a lane 685 to a right side of the vehicle 610. The third vehicle 640 may comprise an array 642 of lights, which may include lights 643, 644, 645, 646, and 647, on a left side of the third vehicle 640, which is the side closest to the vehicle 610. The third vehicle 640 may flash or blink the array 642 of lights such that each of the lights 643, 644, 645, 646, and 647 may be flashing or blinking (shown as darkened), in order to signal to the vehicle 610 that the third vehicle 640 intends to pass or overtake the vehicle 610 and merge into the lane 680, for example, via a trajectory 648. In some embodiments, the signal from the third vehicle 640 may only be shown on a side closest to the vehicle 610. For example, no lights on a front, back, right portion or side of the third vehicle 640 may be flashing or blinking. In response to the second vehicle 620 and the third vehicle 640 flashing or blinking the arrays 622 and 642 of lights, the vehicle 610 may detect and recognize, that the second vehicle 620 and the third vehicle 640 intend to merge into the lane 680. The second vehicle 620 and the third vehicle 640 may communicate with the vehicle 610 regarding their respective intended trajectories 628 and 648 to merge into the lane 680. The vehicle 610 may be configured to recognize different patterns or sequences of flashing or blinking lights, or other signals, as signals or indications that the second vehicle 620 and the third vehicle 640 intend to merge into the lane 680. The vehicle 610 may provide a response signal that the vehicle 610 intends to yield to the second vehicle 620 and the third vehicle 640 and allow the second vehicle 620 and the third vehicle 640 to merge into the lane 680. In some embodiments, the vehicle 610 may determine to yield to both the second vehicle 620 and the third vehicle 630 based on determining that a distance in front of the vehicle 610 and between the vehicle 610 and a next closest vehicle (e.g., a fourth vehicle 660, which may be an AV) may be larger than a combined length of both the second vehicle 620 and the third vehicle 640. The fourth vehicle 660 may be travelling on the lane 680 and comprise an array 662 of lights, which may include lights 663, 664, 665, 666, and 667, on a left side of the fourth vehicle 660, and an array 672 of lights, which may include lights 673, 674, 675, 676, and 677, on a right side of the fourth vehicle 660.

The response signal as provided by the vehicle 610 may be that the array 612 of lights, provided in response to the signal from the second vehicle 620, and the array 602 of lights, provided in response to the signal from the third vehicle 630, pulse or move from side to side or back and forth. For example, only one or only some of the lights in the array 612 may be illuminated, flashing, or flickering at one time. Initially, only the light 613 (shown as darkened) may be illuminated, flashing, or flickering; then the light 617 may be illuminated, flashing, or flickering; next, the light 616 may be illuminated, flashing, or flickering; subsequently, the light 615 may be illuminated, flashing, or flickering; then, the light 614 may be illuminated, flashing, or flickering. In some embodiments, two adjacent lights may be illuminated, flashing, or flickering at one time, as the response signal of the vehicle 610. As an example, initially, only the lights 613 and 614 may be illuminated, flashing, or flickering; then the lights 613 and 617 may be illuminated, flashing, or flickering; next, the lights 616 and 617 may be illuminated, flashing, or flickering; subsequently, the lights 615 and 616 may be illuminated, flashing, or flickering; then, the lights 614 and 615 may be illuminated, flashing, or flickering. The array 602 may operate in a manner similar to the array 612. In some embodiments, no lights on a front or back portion of the vehicle 610 may be illuminated, flashing, or flickering. The second vehicle 620 may be configured to detect different patterns or sequences of illuminated, flashing, or flickering lights from the array 612 from the vehicle 610, as a signal that the vehicle 610 intends to yield. Upon detecting that the vehicle 610 intends to yield, the second vehicle 620 may speed up to overtake the vehicle 610 and merge into the lane 680. The third vehicle 640 may be configured to detect different patterns or sequences of illuminated, flashing, or flickering lights from the array 602 from the vehicle 610, as a signal that the vehicle 610 intends to yield. Upon detecting that the vehicle 610 intends to yield, the third vehicle 640 may speed up to overtake the vehicle 610 and merge into the lane 680. Once the second vehicle 620 and the third vehicle 640 have completed merging into the lane 680, a processor such as the responding engine 128 may cause the array 612 and the array 602 to terminate the response signal so that none of the lights in the array 612 or the array 602 are illuminated, flashing, or flickering. Additionally, the second vehicle 620 and the third vehicle 640 may terminate the signal so that none of the lights in the array 622 and the array 642 of lights are illuminated, flashing, or flickering.

In the implementation 700 of FIG. 7 , a vehicle 710, which may be implemented as vehicle 101, may be driving in a lane 780. The vehicle 710 may comprise an array 712 of lights, which may include lights 713, 714, 715, 716, and 717, on a left side of the vehicle 710, and an array 702 of lights, which may include lights 703, 704, 705, 706, and 707, on a right side of the vehicle 710. In some embodiments, the array 712 and the array 702 may comprise any number of lights. Five lights are shown merely for illustrative purposes. A second vehicle 720, which may be an AV, may be driving in a lane 790 to a left side of the vehicle 710. The second vehicle 720 may comprise an array 722 of lights, which may include lights 723, 724, 725, 726, and 727, on a right side of the second vehicle 720, which is the side closest to the vehicle 710. The second vehicle 720 may flash or blink the array 722 of lights such that each of the lights 723, 724, 725, 726, and 727 may be flashing or blinking (shown as darkened), in order to signal to the vehicle 710 that the second vehicle 720 intends to pass or overtake the vehicle 710 and merge into the lane 780, for example, via a trajectory 728. In some embodiments, the signal from the second vehicle 720 may only be shown on a side closest to the vehicle 710. For example, no lights on a front, back, or left portion of the second vehicle 720 may be flashing or blinking. A third vehicle 740, which may be an AV, may be driving in a lane 785 to a right side of the vehicle 710. The third vehicle 740 may comprise an array 742 of lights, which may include lights 743, 744, 745, 746, and 747, on a left side of the third vehicle 740, which is the side closest to the vehicle 710. The third vehicle 740 may flash or blink the array 742 of lights such that each of the lights 743, 744, 745, 746, and 747 may be flashing or blinking (shown as darkened), in order to signal to the vehicle 710 that the third vehicle 740 intends to pass or overtake the vehicle 710 and merge into the lane 780. In some embodiments, the signal from the third vehicle 740 may only be shown on a side closest to the vehicle 710. For example, no lights on a front, back, right portion or side of the third vehicle 740 may be flashing or blinking. In response to the second vehicle 720 and the third vehicle 740 flashing or blinking the arrays 722 and 742 of lights, respectively, the vehicle 710 may detect and recognize, via one or more processors of the computing system 122, that the second vehicle 720 and the third vehicle 740 intend to merge into the lane 780. The vehicle 710 may be configured to recognize different patterns or sequences of flashing or blinking lights, or other signals, as signals or indications that the second vehicle 720 and the third vehicle 740 intend to merge into the lane 780. The vehicle 710 may provide a response signal that the vehicle 710 intends to yield to the second vehicle 720, but not provide a response to the third vehicle 740, indicating that the vehicle 710 is not yielding to the third vehicle 740 and not allowing the third vehicle 740 to merge into the lane 780. In some embodiments, the vehicle 710 may determine to yield to only the second vehicle 720 and not yield the third vehicle 730 based on determining that a distance in front of the vehicle 710 and between the vehicle 710 and a next closest vehicle (e.g., a fourth vehicle 760, which may be an AV) may not be large enough to accommodate both the second vehicle 720 and the third vehicle 740, and determining that the distance between the vehicle 710 and the fourth vehicle 760 may only be large enough to accommodate one vehicle. Once the vehicle 710 signals that it is yielding to the second vehicle 720, the second vehicle 720 may communicate with the vehicle 710 regarding the trajectory 728 that the second vehicle 720 intends to follow while merging into the lane 780. The fourth vehicle 760 may be travelling on the lane 780 and comprise an array 762 of lights, which may include lights 763, 764, 765, 766, and 767, on a left side of the fourth vehicle 760, and an array 772 of lights, which may include lights 773, 774, 775, 776, and 777, on a right side of the fourth vehicle 760.

To determine which of the second vehicle 720 and the third vehicle 740 to allow to merge into the lane 780, the vehicle 710 may choose whichever vehicle is in front, whichever vehicle has a larger distance from a next closest vehicle, and/or whichever vehicle more urgently requires a merge into the lane 780, among other factors described previously with respect to FIG. 1 . Here, the acquiring engine 125 or other processor of the computing system 122 may determine that the second vehicle 720 is in front of the third vehicle 740, so that the second vehicle 720 may have a smaller distance to travel in order to overtake the vehicle 710. The acquiring engine 125 or other processor may further determine that directly in front of the third vehicle 740 are two other vehicles 758 and 759, whereas no other vehicles are directly in front of the second vehicle 720. Based at least in part on these factors, the acquiring engine 125 or other processor may choose the second vehicle 720 to allow to merge into the lane 780.

The response signal as provided by the vehicle 710 may be that the array 712 of lights, provided in response to the signal from the second vehicle 720, pulses or moves from side to side or back and forth, and the array 702 of lights, does not provide any signal such as pulsing or moving from side to side or back and forth, to the third vehicle 740, indicating that the vehicle 710 is not yielding to the third vehicle 740. However, if the second vehicle 720 no longer indicates a signal that the second vehicle 720 intends to merge into the lane 780, the vehicle 710 may then signal to the third vehicle 740, via the array 702, that the vehicle 710 intends to yield to the third vehicle 740.

As an example, only one or only some of the lights in the array 712 may be illuminated, flashing, or flickering at one time. Initially, only the light 713 (shown as darkened) may be illuminated, flashing, or flickering; then the light 717 may be illuminated, flashing, or flickering; next, the light 716 may be illuminated, flashing, or flickering; subsequently, the light 715 may be illuminated, flashing, or flickering; then, the light 714 may be illuminated, flashing, or flickering. In some embodiments, two adjacent lights may be illuminated, flashing, or flickering at one time, as the response signal of the vehicle 710. As an example, initially, only the lights 713 and 714 may be illuminated, flashing, or flickering; then the lights 713 and 717 may be illuminated, flashing, or flickering; next, the lights 716 and 717 may be illuminated, flashing, or flickering; subsequently, the lights 715 and 716 may be illuminated, flashing, or flickering; then, the lights 714 and 715 may be illuminated, flashing, or flickering. In some embodiments, no lights on a front or back portion of the vehicle 710 may be illuminated, flashing, or flickering. The second vehicle 720 may be configured to detect different patterns or sequences of illuminated, flashing, or flickering lights from the array 712 from the vehicle 710, as a signal that the vehicle 710 intends to yield. Upon detecting that the vehicle 710 intends to yield, the second vehicle 720 may speed up to overtake the vehicle 710 and merge into the lane 780. Once the second vehicle 720 has completed merging into the lane 780, a processor of the computing system 122 may cause the array 712 to terminate the response signal so that none of the lights in the array 712 are illuminated, flashing, or flickering. Additionally, the second vehicle 720 may terminate the signal so that none of the lights in the array 722 of lights are illuminated, flashing, or flickering.

In the implementation 800 of FIG. 8 , a vehicle 810, which may be implemented as vehicle 101, may be driving in a lane 880. The vehicle 810 may comprise an array 812 of lights, which may include lights 813, 814, 815, 816, and 817, on a left side of the vehicle 810, an array 802 of lights, which may include lights 803, 804, 805, 806, and 807, on a right side of the vehicle 810, and an array 832 of lights, which may include lights 833, 834, and 835, on a front portion of the vehicle 810. In some embodiments, the array 812, 802, and 832 may comprise any number of lights. Five lights in the array 812 and 802, or three lights in the array 832, are shown merely for illustrative purposes. A second vehicle 820, which may be an AV, may be driving in a lane 890 to a left side of the vehicle 810. The second vehicle 820 may comprise an array 822 of lights, which may include lights 823, 824, 825, 826, and 827, on a right side of the second vehicle 820, which is the side closest to the vehicle 810, and an array 842 of lights, which may include lights 843, 844, 845, on a front side of the second vehicle 820. The second vehicle 820 may flash or blink the array 822 of lights such that each of the lights 823, 824, 825, 826, and 827 may be flashing or blinking (shown as darkened), in order to signal to the vehicle 810 that the second vehicle 820 intends to pass or overtake the vehicle 810 and merge into the lane 880. In some embodiments, the signal from the second vehicle 820 may only be shown on a side closest to the vehicle 810. For example, no lights on a front, back, or left portion of the second vehicle 820 may be flashing or blinking. The array 842 may operate in a similar manner as the array 822. A third vehicle 850, which may be an AV, may be turning into either the lane 890 or the lane 880. The third vehicle 850 may comprise an array 852 of lights, which may include lights 853, 854, 855, 856, and 857, on a right side of the third vehicle 850, and turn lights 858 and 859. The third vehicle 850 may flash or blink the turn lights 858 and 859 such that each of the lights 858 and 859 may be flashing or blinking (shown as darkened), in order to signal to the vehicle 810 and the second vehicle 820 that the third vehicle 850 intends to turn into the lane 880 or the lane 890, for example, via a trajectory 851. In response to the second vehicle 820 flashing or blinking the arrays 822, and the third vehicle 850 flashing or blinking the turn lights 858 and 859, the vehicle 810 may detect and recognize, via one or more processors of the computing system 122, that the second vehicle 820 and the third vehicle 850 intend to merge into the lane 880. The vehicle 810 may be configured to recognize different patterns or sequences of flashing or blinking lights, or other signals, as signals or indications that the second vehicle 820 and the third vehicle 850 intend to merge into the lane 880. Additionally, the second vehicle 820 may detect that the third vehicle 850 is flashing or blinking the turn lights 858 and 859, and may provide a signal, via the array 842 of lights, that the second vehicle 820 intends to yield to the third vehicle 850. The third vehicle 850 may send, to the vehicle 810 and the second vehicle 820, the trajectory 851 by which the third vehicle 850 intends to merge into one of the lanes 880 or 890.

The vehicle 810 may provide a response signal, via the array 832 of lights, that the vehicle 810 intends to yield to the third vehicle 850, but not provide a response to the second vehicle 820, indicating that the vehicle 810 is not yielding to the second vehicle 820 and not allowing the second vehicle 820 to merge into the lane 880. In some embodiments, the vehicle 810 may determine to yield to only the third vehicle 850 and not yield the second vehicle 820 based on determining that a distance in front of the vehicle 810 and between the vehicle 810 and a next closest vehicle (e.g., a fourth vehicle 860, which may be an AV) may not be large enough to accommodate both the second vehicle 820 and the third vehicle 850, and determining that the distance between the vehicle 810 and the fourth vehicle 860 may only be large enough to accommodate one vehicle. The fourth vehicle 860 may be travelling on the lane 880 and comprise an array 862 of lights, which may include lights 863, 864, 865, 866, and 867, on a left side of the fourth vehicle 860, and an array 872 of lights, which may include lights 873, 874, 875, 876, and 877, on a right side of the fourth vehicle 860. Additionally or alternatively, the vehicle 810 may determine that allowing the second vehicle 820 to merge at a same time as the third vehicle 850 is turning at an intersection is unsafe and not allow the second vehicle 820 to merge.

To determine which of the second vehicle 820 and the third vehicle 850 to allow to merge into the lane 880, the vehicle 810 may choose whichever vehicle is in front, and/or whichever vehicle more urgently requires a merge into the lane 880, among other factors described previously with respect to FIG. 1 . Here, one of the processors of the computing system 122 may determine that the third vehicle 850 is in front of the second vehicle 820, and that not allowing the third vehicle 850 to merge into the lane 880 may result in the third vehicle 850 being stuck at an intersection and potentially blocking traffic on multiple roads, so that the third vehicle 850 requires merging more urgently. Based at least in part on these factors, the one of the processors of the computing system 122 may choose the third vehicle 850 to allow to merge into the lane 880.

The response signal as provided by the vehicle 810 may be that the array 832 of lights, provided in response to the signal from the turn lights 858 and 859 from the third vehicle 850, pulses or moves from side to side or back and forth, and the array 802 of lights, does not provide any signal such as pulsing or moving from side to side or back and forth, to the second vehicle 820, indicating that the vehicle 810 is not yielding to the second vehicle 820. However, if the third vehicle 850 successfully merges into the lane 890, the lane 880, or the lane 885, if a processor of the computing system 122 of the vehicle 810 determines that adequate space exists in front of the vehicle 810 to allow the second vehicle 820 to merge, and conditions are otherwise safe for merging, a processor of the computing system 122 may then signal to the second vehicle 820, via the array 812, that the vehicle 810 intends to yield to the second vehicle 820.

As an example, only one or only some of the lights in the array 832 may be illuminated, flashing, or flickering at one time. Initially, only the light 833 (shown as darkened) may be illuminated, flashing, or flickering because it is closest to the third vehicle 850. The light 833 may be the only light in the array 832 that is illuminated, flashing, or flickering. Alternatively, different lights of the array may be illuminated, flashing, or flickering at different times. For example, the light 833 may be illuminated, flashing, or flickering; next, the light 834 may be illuminated, flashing, or flickering; subsequently, the light 835 may be illuminated, flashing, or flickering. In some embodiments, two adjacent lights may be illuminated, flashing, or flickering at one time, as the response signal of the vehicle 810. As an example, initially, only the lights 833 and 834 may be illuminated, flashing, or flickering; then the lights 834 and 835 may be illuminated, flashing, or flickering; next, the lights 835 and 833 may be illuminated, flashing, or flickering. The third vehicle 850 may be configured to detect different patterns or sequences of illuminated, flashing, or flickering lights from the array 832 from the vehicle 810, as a signal that the vehicle 810 intends to yield. Upon detecting that the vehicle 810 intends to yield, the third vehicle 850 may speed up to merge into the lane 880. Once the third vehicle 850 has completed merging into the lane 880, a processor of the computing system 122 may cause the array 832 to terminate the response signal so that none of the lights in the array 832 are illuminated, flashing, or flickering. Additionally, the third vehicle 850 may terminate the signal so that none of the turn lights 858 or 859 are illuminated, flashing, or flickering.

In the implementation 900 of FIG. 9 , a vehicle 910, which may be implemented as vehicle 101, may be driving in a lane 980. The vehicle 910 may comprise an array 912 of lights, which may include lights 913, 914, 915, 916, and 917. In some embodiments, the array 912 may comprise any number of lights. Five lights are shown merely for illustrative purposes. Another vehicle 920, which may be an AV, may be driving in a lane 920 to a left side of the vehicle 910. The another vehicle 920 may comprise an array 922 of lights, which may include lights 923, 924, 925, 926, and 927, on a right side of the another vehicle 920, which is the side closest to the vehicle 910. In some embodiments, the array 922 may comprise any number of lights. Five lights are shown merely for illustrative purposes. The another vehicle 920 may flash or blink the array 922 of lights such that each of the lights 923, 924, 925, 926, and 927 may be flashing or blinking (shown as darkened), in order to signal to the vehicle 910 that the another vehicle 920 intends to pass or overtake the vehicle 910 and merge into the lane 980. In some embodiments, the signal from the another vehicle 920 may only be shown on a side closest to the vehicle 910. For example, no lights on a front, back, or left portion of the another vehicle 920 may be flashing or blinking. In response to the another vehicle 920 flashing or blinking the array 922 of lights, the vehicle 910 may detect and recognize, via one or more processors of the computing system 122, that the another vehicle 920 intends to merge into the lane 980, for example, via a trajectory 928. The vehicle 910 may be configured to recognize different patterns or sequences of flashing or blinking lights, or other signals, as signals or indications that the another vehicle 920 intends to merge into the lane 980. The vehicle 910 may determine whether and/or when to yield in order to allow the second vehicle 920 to merge into the lane 980. In some examples, the vehicle 910 may determine whether to allow the second vehicle 920 to merge into the lane 980 based on another source such as a traffic light signal 992. For example, if allowing the second vehicle 920 to merge into the lane 980 would be predicted to result in the vehicle 910 being caught or stuck at a red light, either immediately in front of the vehicle 910, or farther in the route (e.g., blocks or miles away), the vehicle 910 may not yield to the second vehicle 920. For example, the vehicle 910 may be approaching an intersection while the traffic light 992 is yellow. The vehicle 910 may first pass the intersection with the traffic light 992 before the traffic light 992 turns red, and then, provide a response signal to the second vehicle 920 that the vehicle 910 intends to yield. The second vehicle 920 may provide an updated trajectory 929 to the vehicle 910.

A response signal of the vehicle 910 to the second vehicle 920 may be that the array 912 of lights pulses or moves from side to side or back and forth. For example, only one or only some of the lights in the array 912 may be illuminated, flashing, or flickering at one time. Initially, only the light 913 (shown as darkened) may be illuminated, flashing, or flickering; then the light 917 may be illuminated, flashing, or flickering; next, the light 916 may be illuminated, flashing, or flickering; subsequently, the light 915 may be illuminated, flashing, or flickering; then, the light 914 may be illuminated, flashing, or flickering. In some embodiments, two adjacent lights may be illuminated, flashing, or flickering at one time, as the response signal of the vehicle 910. As an example, initially, only the lights 913 and 914 may be illuminated, flashing, or flickering; then the lights 913 and 917 may be illuminated, flashing, or flickering; next, the lights 916 and 917 may be illuminated, flashing, or flickering; subsequently, the lights 915 and 916 may be illuminated, flashing, or flickering; then, the lights 914 and 915 may be illuminated, flashing, or flickering. In some embodiments, the response signal may only be shown on a side closest to the another vehicle 920. For example, no lights on a front, back, or right portion of the vehicle 910 may be illuminated, flashing, or flickering. The another vehicle 920 may be configured to detect different patterns or sequences of illuminated, flashing, or flickering lights from the vehicle 910, as a signal that the vehicle 910 intends to yield. Upon detecting that the vehicle 910 intends to yield, the another vehicle 920 may send or communicate the updated trajectory 929 to the vehicle 910, speed up to overtake the vehicle 910 and merge into the lane 980. Once the another vehicle 920 has completed merging into the lane 980, the computing system 122 may cause the array 912 to terminate the response signal so that none of the lights in the array 912 is illuminated, flashing, or flickering. Additionally, the another vehicle 920 may terminate the signal so that none of the lights in the array 922 of lights is illuminated, flashing, or flickering.

In the implementation 1000 of FIG. 10A, a vehicle 1010 may determine whether it would be safe to make a 90 degree left turn, for example, at an intersection. The vehicle 1010, which may be implemented as vehicle 101, may be driving in a lane 1090. The vehicle 1010 may comprise an array 1012 of lights, which may include lights 1013, 1014, 1015, 1016, and 1017, on a left side of the vehicle 1010, and turn lights 1018 and 1019 on a front of the vehicle 1010. In some embodiments, the array 1012 may comprise any number of lights. Five lights are shown merely for illustrative purposes. A processor of the vehicle 1010 may illuminate, flash or blink the array 1012 of lights such that each of the lights 1013, 1014, 1015, 1016, and 1017 may be flashing or blinking (shown as darkened), in order to signal to another vehicle that the vehicle 1010 intends to turn left or to move into a lane to a left of the vehicle 1010. In some embodiments, the vehicle 1010 may flash or blink the array 1012 of lights, in addition to flashing or blinking the turn lights 1018 and 1019, in order to signal that the vehicle 1010 intends to turn left. In some embodiments, the vehicle 1010 may flash or blink only the turn light 1018 to signal that the vehicle 1010 intends to turn left. In some embodiments, the vehicle 1010 may flash or blink only one of the turn lights 1018 or 1019 disposed on a side of a direction that the vehicle 1010 intends to turn. For example, the vehicle 1010 may flash or blink only the turn light 1019 to signal that the vehicle 1010 intends to turn right.

A second vehicle 1020 and a third vehicle 1040, which may each be an AV, may be driving in a lane 1093 and travelling in an opposite direction with respect to the vehicle 1010. The second vehicle 1020 may comprise an array 1022 of lights, which may include lights 1023, 1024, 1025, 1026, and 1027, on a left side of the second vehicle 1020, and turn lights 1028 and 1029 at a front of the second vehicle 1020. A processor of the second vehicle 1020 may illuminate, flash or blink the array 1022 of lights such that each of the lights 1023, 1024, 1025, 1026, and 1027 may be flashing or blinking (shown as darkened), in order to signal to another vehicle that the second vehicle 1020 intends to turn left, for example, into a lane 1092, or to move into a lane to a left of the second vehicle 1020. In some embodiments, the second vehicle 1020 may illuminate, flash or blink the array 1022 of lights, in addition to flashing or blinking the turn lights 1028 and 1029, in order to signal that the second vehicle 1020 intends to turn left. In some embodiments, the second vehicle 1020 may illuminate, flash or blink only the turn light 1028 to signal that the vehicle 1020 intends to turn left. In some embodiments, the second vehicle 1020 may illuminate, flash or blink only one of the turn lights 1028 or 1029 disposed on a side of a direction that the second vehicle 1020 intends to turn. For example, the second vehicle 1020 may illuminate, flash or blink only the turn light 1029 to signal that the vehicle 1020 intends to turn left. The third vehicle 1040 may comprise an array 1042 of lights, which may include lights 1043, 1044, 1045, 1046, and 1047, on a left side of the third vehicle 1040, and turn lights 1048 and 1049. The array 1042 may operate in a manner similar to a manner of the array 1022, and the turn lights 1048 and 1049 may operate in a manner similar to a manner of the turn lights 1028 and 1029. A fourth vehicle 1050 may be travelling in a lane 1094 and a fifth vehicle 1060 may be travelling in a lane 1095, in a same direction as the second vehicle 1020 and the third vehicle 1040.

When the vehicle 1010 approaches an intersection 1089, the vehicle 1010 may detect and recognize one or more traffic lights 1096, 1097, 1098, and 1099, via one or more processors of the computing system 122 such as the sensing engine 123. The vehicle 1010 may signal an intent to turn into a lane 1091. The vehicle 1010 may determine whether or not, and/or when, to make a 90-degree turn at an intersection 1089 at least based on a signal of the one or more traffic lights 1096, 1097, 1098, and 1099, for example, whether the one or more traffic lights 1096, 1097, 1098, and 1099 are green, a distance from the intersection 1089 of one or more of the vehicles 1020, 1040, 1050, and 1060 travelling in an opposite direction, and/or one or more signals such as from the array 1022, the turn lights 1028 and 1029, the array 1042, and the turn lights 1048 and 1049. In some examples, a processor of the vehicle 1010 may determine that it is safe to make a 90-degree left turn even if the second vehicle 1020 is approaching the intersection 1089, if the array 1022 of lights and/or one or more of the turn lights 1028 and 1029 are illuminated, flashing, or blinking to indicate that the second vehicle 1020 will also be making a 90-degree left turn. Similarly, a processor of the computing system 122 of the vehicle 1010 may determine that it is safe to make a 90-degree left turn even if the third vehicle 1040 is approaching the intersection 1089, and the third vehicle 1040 is signaling that it plans to make a left turn. In some examples, a processor of the computing system 122 may detect that the array 1022 of lights is illuminated or flashing and determine that the second vehicle 1020 will be making a 90-degree left turn, if the second vehicle 1020 is in a leftmost lane. In some examples, a processor of the computing system 122 may detect that the turn light 1028 is illuminated or flashing and determine that the second vehicle 1020 will be making a 90-degree left turn. In response to determining that the second vehicle 1020 will be making a 90-degree left turn, a processor of the computing system 122 may determine that it is safe for the vehicle 1010 to make a 90-degree left turn and a processor of the computing system 122 may cause the vehicle 1010 to, or initiate the vehicle 1010 to, make a left turn, for example, according to a trajectory 1011. The trajectory 1011 may be determined based on an initial trajectory, and updated to take into account a trajectory 1021 of the vehicle 1020 that is also intending to turn. In some embodiments, one or more processors of the vehicle 1010 may further determine a safety of making a 90-degree left turn by determining a speed or velocity of one or more of the second vehicle 1020, the third vehicle 1040, the fourth vehicle 1050, the fifth vehicle 1060, and any pedestrians passing through the intersection 1089. One or more processors of the vehicle 1010 may further predict trajectories or paths of one or more of the second vehicle 1020, the third vehicle 1040, the fourth vehicle 1050, and the fifth vehicle 1060, based at least in part on the respective speeds or velocities of the second vehicle 1020, the third vehicle 1040, the fourth vehicle 1050, the fifth vehicle 1060, and any pedestrians passing through the intersection 1089. One or more processors of the vehicle 1010 may further predict trajectories or paths of one or more of the second vehicle 1020 and the third vehicle 1040 based in part on a turning angle or radius of the one or more of the second vehicle 1020 and the third vehicle 1040. One or more processors of the vehicle 1010 may further predict trajectories or paths of one or more of the second vehicle 1020 and the third vehicle 1040, if the second vehicle 1020 and/or the third vehicle 1040 does not actually make a left turn even though the second vehicle 1020 and/or the third vehicle 1040 are signaling their intents to make a left turn. For example, the second vehicle 1020 and/or the third vehicle 1040 may change intended paths from a left turn to going straight. One or more processors of the vehicle 1010 may further predict a trajectory or path of the vehicle 1010 based on a velocity of the vehicle 1010 and a turning angle or turning radius of the vehicle 1010. One or more processors of the vehicle 1010 may further determine that it is safe for the vehicle 1010 to make a 90-degree left turn in response to the predicted trajectories or paths of the vehicle 1010 being separated from the trajectories or paths of one or more of the second vehicle 1020, the third vehicle 1040, the fourth vehicle 1050, and the fifth vehicle 1060 by at least a threshold distance at any time period, or at all instances of the time period, during which any portion of the vehicle 1010 is predicted to cross or traverse the lanes 1093, 1094, and 1095, and otherwise determine that it is not safe for the vehicle 1010 to make the 90-degree left turn if the predicted trajectories or paths of the vehicle 1010 are not separated from the trajectories or paths of one or more of the second vehicle 1020, the third vehicle 1040, the fourth vehicle 1050, and the fifth vehicle 1060 by at least a threshold distance during a period at which any portion of the vehicle 1010 is predicted to cross or traverse the lanes 1093, 1094, and 1095. One or more processors of the vehicle 1010 may further determine that it is safe for the vehicle 1010 to make a 90-degree left turn if, or in response to, the predicted trajectories or paths of the vehicle 1010 being separated from the trajectories or paths of the one or more pedestrians by more than a second threshold distance at any time during which any portion of the vehicle crosses or traverses the intersection 1089. In response to the one or more processors of the vehicle 1010 determining that it is safe for the vehicle 1010 to make a 90-degree left turn, one or more processors may direct, instruct, or control the vehicle 1010 to initiate the 90-degree left turn.

If the vehicle 1010 initiates a 90-degree left turn, one or more processors of the vehicle 1010 may take precautions to further reduce or eliminate a possibility of a collision. For example, the vehicle 1010 may be controlled to stop, or speed up to avoid a collision, if a distance between the vehicle 1010 and any of the second vehicle 1020, the third vehicle 1040, the fourth vehicle 1050, and the fifth vehicle 1060 is less than a threshold distance at any time during which any portion of the vehicle 1010 crosses or traverses the lanes 1093, 1094, and 1095. As another example, once a vehicle 1010 initiates a 90-degree left turn, the vehicle 1010 may be controlled to stop before a front of the vehicle 1010 traverses into the lane 1093, if the second vehicle 1020 is approaching the intersection 1089 and within a threshold distance of the vehicle 1010, even if the second vehicle 1020 is signaling an intent to turn. In such a manner, the vehicle 1010 may ensure that the second vehicle 1020 actually makes a 90-degree left turn at the intersection 1089, and would avoid a collision in case the second vehicle 1020 changes course right before the intersection 1089 and actually drives straight into and past the intersection 1089. In some examples, the vehicle 1010 may perform an action based on a likelihood of avoiding a collision with the second vehicle 1020, such as, performing an action most likely to avoiding the collision.

FIG. 10B is a schematic diagram showing an exemplary implementation of FIG. 10A, specifically, of one or more processors of the vehicle 1010. In some embodiments, one or more processors of the vehicle 1010 may predict one or more paths or trajectories 1021, 1041, 1051, and 1061, of the second vehicle 1020, the third vehicle 1040, the fourth vehicle 1050, and the fifth vehicle 1060, respectively. Each of the one or more paths or trajectories 1021, 1041, 1051, and 1061 may comprise predicted positions at discrete times t1, t2, t3, and t4. The one or more processors of the vehicle 1010 may further predict a path or trajectory 1011 of the vehicle 1010 itself. The one or more processors of the vehicle 1010 may determine whether the path 1011 is separated by at least a threshold distance from each of the paths 1021, 1041, 1051, and 1061, at each of the times t1, t2, t3, and t4. In response to a positive determination that the path 1011 is separated by at least a threshold distance from each of the paths 1021, 1041, 1051, and 1061, at each of the times t1, t2, t3, and t4, the one or more processors may determine that it is safe for the vehicle 1010 to make a left turn beginning at time t1, and initiate the left turn. In response to a negative determination, for example, that the path 1011 is not separated by at least a threshold distance from each of the paths 1021, 1041, 1051, and 1061, at each of the times t1, t2, t3, and t4, the one or more processors may further predict another path or trajectory 1001 of the vehicle 1010 at a different start time t3, and determine whether the path or trajectory 1011 is separated by at least a threshold distance from each of the paths 1021, 1041, 1051, 1061, and 1071 of other vehicles at each of the times t3, t4, t5, and t6, similar to the process above with the path 1011. In some embodiments, the one or more processors of the vehicle 1010 may also determine whether the path 1011 is separated by at least a second threshold distance from predicted paths of other pedestrians at each discrete time (e.g., t1, t2, t3, t4, t5, t6).

In the implementation 1100 of FIG. 11 , a vehicle 1110 may determine whether or not to pass in front of a stopped vehicle, such as a vehicle yielding to opposing traffic and waiting to make a left turn. The vehicle 1110, which may be implemented as vehicle 101, may be driving in a lane 1191, behind a second vehicle 1120. The vehicle 1110 may comprise an array 1112 of lights, which may include lights 1113, 1114, 1115, 1116, and 1117, on a left side of the vehicle 1110, and an array 1102 of lights, which may include lights 1103, 1104, 1105, 1106, and 1107, on a right side of the vehicle 1110. In some embodiments, the array 1112 may comprise any number of lights. Five lights are shown merely for illustrative purposes. A processor of the vehicle 1110 may illuminate, flash or blink the array 1102 of lights such that each of the lights 1103, 1104, 1105, 1106, and 1107 may be flashing or blinking (shown as darkened), in order to signal to another vehicle behind the vehicle 1110, that the vehicle 1110 intends to turn right or to move into a lane 1190 to a right of the vehicle 1110. In some embodiments, the vehicle 1110 may signal and intend to switch into the lane 1190 in order to pass the second vehicle 1120, which may be stationary and not moving, because the second vehicle 1120 may be waiting to make a 90-degree left turn into a lane 1187 at an intersection 1186. In some embodiments, the vehicle 1110 may determine whether or not to change lanes in order to pass a stationary vehicle such as the second vehicle 1120 based on a status of one or more upcoming traffic lights such as traffic lights 1196-1199, such as, whether the traffic lights 1196-1199 are currently green, and how much longer they will remain green or red for. In some embodiments, the vehicle 1110 may determine whether or not to change lanes in order to pass a stationary vehicle such as the second vehicle 1120 based on whether or not any pedestrians are crossing the intersection 1186. For example, if pedestrians are crossing the intersection 1186, or are waiting to cross the intersection 1186, the vehicle 1110 may determine not to change lanes and stay behind the second vehicle 1120. In some embodiments, the vehicle 1110 may determine whether or not to change lanes in order to pass a stationary vehicle such as the second vehicle 1120 based on a prediction, calculation, or determination of whether such action would be safe or how safe such an action would be. In some examples, the prediction, calculation, or determination of how safe such an action would be may depend on a number of vehicles in the lane 1190 and lane 1189, a distance and/or velocity of nearest vehicles to the vehicle 1110 in the lane 1190 and the lane 1189. In some embodiments, the vehicle 1110 may determine whether or not to change lanes in order to pass a stationary vehicle such as the second vehicle 1120 based on any one or both of an urgency that the vehicle 1110 may have in reaching a destination, a predicted waiting time, and a resulting delay of the predicted waiting time if the vehicle 1110 were to wait without changing to the lane 1190. The vehicle 1110 may predict the waiting time based on a density of traffic in lanes 1192, 1193, 1194, and 1195 on an opposing side of traffic, distances between one or more vehicles on the opposing side of traffic, and/or velocities of one or more vehicles such as a third vehicle 1140, a fourth vehicle 1150, a fifth vehicle 1160, and a sixth vehicle 1170. In some examples, the vehicle 1110 may determine or predict a resulting delay that would occur if the vehicle 1110 were to wait for the predicted waiting time, based on traffic light patterns and a distribution of traffic. For example, the vehicle 1110 may determine or predict whether the vehicle 1110 would get stuck in one or more red lights as a result of waiting for the predicted waiting time. In some embodiments, the vehicle 1110 may predict the waiting time based on predicted trajectories or paths of one or more of the second vehicle 1120, the third vehicle 1140, with a predicted trajectory 1141, the fourth vehicle 1150, the fifth vehicle 1160, and the sixth vehicle 1170. The predicted trajectories or paths may be based at least in part on the respective speeds or velocities of the third vehicle 1140, the fourth vehicle 1150, the fifth vehicle 1160, and the sixth vehicle 1170. One or more processors of the vehicle 1110 may further predict trajectories or paths of one or more of the second vehicle 1120, the third vehicle 1140, the fourth vehicle 1150, the fifth vehicle 1160, and the sixth vehicle 1170, based in part on a predicted turning angle or radius of the one or more of the second vehicle 1120, and the third vehicle 1140 when it turns into lane 1188. One or more processors of the vehicle 1110 may further predict trajectories or paths of the third vehicle 1140 having the predicted trajectory 1141, if the third vehicle 1140 does not actually make a 90 degree left turn even though the third vehicle 1140 is signaling its intent to make a left turn. The vehicle 1110 may predict the waiting time by determining a predicted time that it would be safe for the second vehicle 1120 to make a left turn 90-degree left turn. The predicted time may be a time in which the predicted trajectories or paths of the second vehicle 1120 are separated from the predicted trajectories or paths of one or more of the third vehicle 1140, the fourth vehicle 1150, the fifth vehicle 1160, and the sixth vehicle 1170, by at least a threshold distance at any time during which any portion of the second vehicle 1120 crosses or traverses the lanes 1192, 1193, 1194, and 1195. In some embodiments, the vehicle 1110 may determine whether or not, and when, to change lanes in order to pass a stationary vehicle such as the second vehicle 1120, based on whether any vehicles on an opposing side of traffic, such as the third vehicle 1140, are signaling to make a left turn onto the lane 1188. In some examples, the vehicle 1110 may wait until the third vehicle 1140 has completed its left turn, or has completely crossed or traversed the lane 1190 before the vehicle 1110 makes its 90 degree left turn. In some embodiments, the vehicle 1110 may determine whether or not to change lanes in order to pass a stationary vehicle such as the second vehicle 1120 based on any one or any combination of the aforementioned factors. Once the vehicle 1110 determines to change into the lane 1190, the vehicle 1110 may determine a trajectory 1118 to change into the lane 1190. The trajectory 1118 may be determined based on trajectories and/or positions of other vehicles.

In the implementation 1200 of FIG. 12 , a vehicle 1210 may determine to pull over to a side of a road in response to detecting an emergency vehicle within a threshold distance of the vehicle 1210. The vehicle 1210, which may be implemented as vehicle 101, may be driving in a lane 1291 and arriving at an intersection with traffic lights 1296-1299. The vehicle 1210 may comprise an array 1212 of lights, which may include lights 1213, 1214, 1215, 1216, and 1217, on a left side of the vehicle 1210, and turn lights 1218 and 1219 on a front of the vehicle 1210. In some embodiments, the array 1212 may comprise any number of lights. Five lights are shown merely for illustrative purposes. A processor of the vehicle 1210 may illuminate, flash or blink the array 1212 of lights such that each of the lights 1213, 1214, 1215, 1216, and 1217 may be flashing or blinking (shown as darkened), in order to signal to another vehicle that the vehicle 1210 intends to turn left or to move into a lane to a left of the vehicle 1210. In some embodiments, the vehicle 1210 may flash or blink the array 1212 of lights, in addition to flashing or blinking the turn lights 1218 and 1219, in order to signal that the vehicle 1210 intends to turn left, for example, into a lane 1287. In some embodiments, the vehicle 1210 may flash or blink only the turn light 1218 to signal that the vehicle 1310 intends to turn left. In some embodiments, the vehicle 1210 may flash or blink only one of the turn lights 1218 or 1219 disposed on a side of a direction that the vehicle 1210 intends to turn. For example, the vehicle 1210 may flash or blink only the turn light 1219 to signal that the vehicle 1210 intends to turn right.

Lanes 1290 and 1289 may be to a right of the lane 1291. Lanes 1292-1295 may be on an opposing side on the lanes 1289-1291, where the vehicle 1210 is driving. Vehicle 1260 may be driving on the lane 1294 and vehicle 1270 may be driving on the lane 1295. An emergency vehicle 1280 such as an ambulance or police car may be driving in a lane 1288.

One or more processors of the vehicle 1210 may detect the emergency vehicle 1230 by detecting a velocity of the emergency vehicle 1280 (for example, if the emergency vehicle 1280 is driving at a faster velocity than surrounding traffic, driving at a velocity exceeding that of surrounding traffic by more than a threshold velocity, detecting one or more flashing lights on the emergency vehicle 1280, and/or detecting one or more sirens or other noises from the emergency vehicle 1280. For example, the vehicle 1210 may pull over to a side of the road if the emergency vehicle is traveling at a speed exceeding a speed of other traffic by more than 20 miles per hour. In response to detecting the emergency vehicle 1280, one or more processors of the vehicle 1210 may determine an action for the vehicle 1210 to take, such as pulling over to a side of the road on the lane 1291, until the emergency vehicle 1280 passes.

In the implementation 1300 of FIG. 13 , a vehicle 1310 may determine whether or not to pass in front of a parked bus. The vehicle 1310, which may be implemented as vehicle 101, may be driving in a lane 1389 and partially or entirely past an intersection with traffic lights 1396-1399. The vehicle 1310 may comprise an array 1312 of lights, which may include lights 1313, 1314, 1315, 1316, and 1317, on a left side of the vehicle 1310, and turn lights 1318 and 1319 on a front of the vehicle 1310. In some embodiments, the array 1312 may comprise any number of lights. Five lights are shown merely for illustrative purposes. A processor of the vehicle 1310 may illuminate, flash or blink the array 1312 of lights such that each of the lights 1313, 1314, 1315, 1316, and 1317 may be flashing or blinking (shown as darkened), in order to signal to another vehicle that the vehicle 1310 intends to turn left, to merge into traffic into a lane 1390. In some embodiments, the vehicle 1310 may flash or blink the array 1312 of lights, in addition to flashing or blinking the turn lights 1318 and 1319, in order to signal that the vehicle 1310 intends to turn left, for example, into a lane 1390. In some embodiments, the vehicle 1310 may flash or blink only the turn light 1318 to signal that the vehicle 1310 intends to turn left. In some embodiments, the vehicle 1310 may flash or blink only one of the turn lights 1318 or 1319 disposed on a side of a direction that the vehicle 1310 intends to turn. For example, the vehicle 1310 may flash or blink only the turn light 1319 to signal that the vehicle 1310 intends to turn right.

The vehicle 1310 may be temporarily stopped behind a bus 1309. The vehicle 1310 may determine whether it is safe to pass in front of the bus 1309 (e.g., by changing into the lane 1390) based on whether the bus 1309 is a school bus, whether the bus 1309 has flashing lights, whether pedestrians are walking in front of the bus 1309, and/or a distance of a nearest vehicle behind the vehicle 1310 in the lane 1390 or the lane 1391. One or more processors of the computing system 122 may gather image data from satellites or other vehicles to determine whether any pedestrians are walking in front of the bus 1309. The one or more processors may detect a type of the bus 1309 (e.g., whether it is a school bus) based on a color, shape, or design of the bus 1309. In some embodiments, the vehicle 1310 may determine that it is unsafe to pass in front of the bus 1309 if the bus 1309 is a school bus, and determine that it is safe to pass in front of the bus 1309 if the bus 1309 is not a school bus. In response to determining it would be safe to pass in front of the bus 1309, the one or more processors may determine to change into the lane 1390 and pass in front of the bus 1309 according to a trajectory 1311.

In the implementation 1400 of FIG. 14 , a vehicle 1410 may determine whether to make a right turn at an intersection 1495 into a lane 1487, at a red light, as indicated by traffic lights 1496-1499. The vehicle 1410, which may be implemented as vehicle 101, may be driving in a lane 1489, next to lanes 1490 and 1491. Lane 1488 may be opposite to the lane 1487. The vehicle 1410 may comprise an array 1412 of lights, which may include lights 1413, 1414, 1415, 1416, and 1417, on a right side of the vehicle 1410, and turn lights 1418 and 1419 on a front of the vehicle 1410. In some embodiments, the array 1412 may comprise any number of lights. Five lights are shown merely for illustrative purposes. A processor of the vehicle 1410 may illuminate, flash or blink the array 1412 of lights such that each of the lights 1413, 1414, 1415, 1416, and 1417 may be flashing or blinking (shown as darkened), in order to signal to another vehicle that the vehicle 1410 intends to turn right, for example, into the lane 1487. In some embodiments, the vehicle 1410 may flash or blink the array 1412 of lights, in addition to flashing or blinking the turn lights 1418 and 1419, in order to signal that the vehicle 1410 intends to turn right, for example, into the lane 1487. In some embodiments, the vehicle 1410 may flash or blink only the turn light 1418 to signal that the vehicle 1410 intends to turn left. In some embodiments, the vehicle 1410 may flash or blink only one of the turn lights 1418 or 1419 disposed on a side of a direction that the vehicle 1410 intends to turn. For example, the vehicle 1410 may flash or blink only the turn light 1419 to signal that the vehicle 1410 intends to turn right.

The vehicle 1410 may determine whether or not to turn right into the lane 1487 based on a density of traffic in the lanes 1487 and 1488, a distance from the vehicle 1410 to a nearest vehicle in the lane 1487 or the lane 1488, a number of vehicles stopped behind the vehicle 1410, and/or whether a traffic sign outlawing a right turn on red is detected. In some examples, if the distance from the vehicle 1410 to a nearest vehicle in the lane 1487 or the lane 1488 exceeds a threshold, the vehicle 1410 may determine it is safe to turn right and initiate a right turn into the lane 1487. In some examples, if a number of vehicles stopped behind the vehicle 1410 exceeds a second threshold and if the distance from the vehicle 1410 to a nearest vehicle in the lane 1487 or the lane 1488 exceeds a threshold, the vehicle 1410 may determine it is safe to turn right and initiate a right turn into the lane 1487, according to a trajectory 1411.

In the implementation 1500 of FIG. 15 , a vehicle 1510 may determine whether it has a right of way at an intersection 1595, in front of a stop sign 1596. Other stop signs 1597, 1598, and 1599 at the intersection 1595 may direct traffic in the other three directions. The vehicle 1510, which may be implemented as vehicle 101, may be driving in a lane 1591, next to lanes 1590 and 1589. A second vehicle 1520 may be traveling in lane 1587, which may be opposed by lane 1588. The vehicle 1510 may comprise an array 1512 of lights, which may include lights 1513, 1514, 1515, 1516, and 1517, on a left side of the vehicle 1510. In some embodiments, the array 1512 may comprise any number of lights. Five lights are shown merely for illustrative purposes. A processor of the vehicle 1510 may illuminate, flash or blink the array 1512 of lights such that each of the lights 1513, 1514, 1515, 1516, and 1517 may be flashing or blinking in order to signal to another vehicle that the vehicle 1510 intends to turn left, to merge into traffic into the lane 1587.

The vehicle 1510 may have arrived at the stop sign 1596 before the second vehicle 1520 arrives at the stop sign 1599. The vehicle 1510 may determine that it has a right-of-way over the second vehicle 1520. However, if the vehicle 1510 determines that the second vehicle 1520 fails to obey right-of-way regulations, and the second vehicle 1520 passes the stop sign 1599 while disregarding the right-of-way of the vehicle 1510, the vehicle 1510 may take measures to avoid a collision with the second vehicle 1520. In some examples, the vehicle 1510 may either not proceed past the intersection 1595 until the second vehicle 1520 traverses or passes through the intersection 1595, speed up past the intersection 1595 to avoid a collision with the second vehicle 1520, or back up if safe to do so to avoid a collision with the second vehicle 1520. In some examples, the vehicle 1510 may determine a course of action, in response to the second vehicle violating the right-of-way regulation, most likely to avoid a collision with the second vehicle 1520, without increasing a risk of a collision with other vehicles.

In some embodiments, the second vehicle 1520 may establish a right-of-way by communicating with the vehicle 1510, even though the second vehicle 1520 may have arrived at the stop sign 1599 after the vehicle 1510 arrived at the stop sign 1596. In some examples, the second vehicle 1520 may exchange a priority status with the vehicle 1510. In some examples, the second vehicle 1520 may obtain a priority status to obtain a right-of-way at a stop sign or an intersection from the vehicle 1510. In some examples, the vehicle 1510 may grant the second vehicle 1520 a right-of-way in exchange for the second vehicle 1520 granting the vehicle 1510 a right-of-way in the future. In some examples, the vehicle 1510 may grant the second vehicle 1520 a right-of-way in exchange for credits that the vehicle 1510 may use in the future, for example, to obtain a right-of-way at an intersection or stop sign, or to pay a toll.

FIG. 16 illustrates a flowchart of a method according to some embodiments. In this and other flowcharts, the flowchart 1600 illustrates by way of example a sequence of steps. It should be understood the steps may be reorganized for parallel execution, or reordered, as applicable. Moreover, some steps that could have been included may have been removed to avoid providing too much information for the sake of clarity and some steps that were included could be removed, but may have been included for the sake of illustrative clarity. The description from other FIGS. may also be applicable to FIG. 16 .

In step 1602, one or more processors may generate initial trajectories along a route to be travelled by the vehicle. In step 1604, the one or more processors may acquire one or more trajectories of other vehicles along the route. In step 1606, the one or more processors may adjust the initial trajectories based on the one or more trajectories of other vehicles. In step 1608, the one or more processors may perform navigation of the vehicle based on the adjusted initial trajectories.

Hardware Implementation

The techniques described herein are implemented by one or more special-purpose computing devices. The special-purpose computing devices may be hard-wired to perform the techniques, or may include circuitry or digital electronic devices such as one or more application-specific integrated circuits (ASICs) or field programmable gate arrays (FPGAs) that are persistently programmed to perform the techniques, or may include one or more hardware processors programmed to perform the techniques pursuant to program instructions in firmware, memory, other storage, or a combination. Such special-purpose computing devices may also combine custom hard-wired logic, ASICs, or FPGAs with custom programming to accomplish the techniques. The special-purpose computing devices may be desktop computer systems, server computer systems, portable computer systems, handheld devices, networking devices or any other device or combination of devices that incorporate hard-wired and/or program logic to implement the techniques.

Computing device(s) are generally controlled and coordinated by operating system software, such as iOS, Android, Chrome OS, Windows XP, Windows Vista, Windows 7, Windows 8, Windows Server, Windows CE, Unix, Linux, SunOS, Solaris, iOS, Blackberry OS, VxWorks, or other compatible operating systems. In other embodiments, the computing device may be controlled by a proprietary operating system. Conventional operating systems control and schedule computer processes for execution, perform memory management, provide file system, networking, I/O services, and provide a user interface functionality, such as a graphical user interface (“GUI”), among other things.

FIG. 17 is a block diagram that illustrates a computer system 1700 upon which any of the embodiments described herein may be implemented. The computer system 1700 includes a bus 1702 or other communication mechanism for communicating information, one or more hardware processors 1704 coupled with bus 1702 for processing information. Hardware processor(s) 1704 may be, for example, one or more general purpose microprocessors.

The computer system 1700 also includes a main memory 1706, such as a random access memory (RAM), cache and/or other dynamic storage devices, coupled to bus 1702 for storing information and instructions to be executed by processor 1704. Main memory 1706 also may be used for storing temporary variables or other intermediate information during execution of instructions to be executed by processor 1704. Such instructions, when stored in storage media accessible to processor 1704, render computer system 1700 into a special-purpose machine that is customized to perform the operations specified in the instructions.

The computer system 1700 further includes a read only memory (ROM) 1708 or other static storage device coupled to bus 1702 for storing static information and instructions for processor 1704. A storage device 1710, such as a magnetic disk, optical disk, or USB thumb drive (Flash drive), etc., is provided and coupled to bus 1702 for storing information and instructions.

The computer system 1700 may be coupled via bus 1702 to output device(s) 1712, such as a cathode ray tube (CRT) or LCD display (or touch screen), for displaying information to a computer user. Input device(s) 1714, including alphanumeric and other keys, are coupled to bus 1702 for communicating information and command selections to processor 1704. Another type of user input device is cursor control 1716, such as a mouse, a trackball, or cursor direction keys for communicating direction information and command selections to processor 1704 and for controlling cursor movement on display 1712. This input device typically has two degrees of freedom in two axes, a first axis (e.g., x) and a second axis (e.g., y), that allows the device to specify positions in a plane. In some embodiments, the same direction information and command selections as cursor control may be implemented via receiving touches on a touch screen without a cursor.

The computing system 1700 may include a user interface module to implement a GUI that may be stored in a mass storage device as executable software codes that are executed by the computing device(s). This and other modules may include, by way of example, components, such as software components, object-oriented software components, class components and task components, processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables.

In general, the word “module,” as used herein, refers to logic embodied in hardware or firmware, or to a collection of software instructions, possibly having entry and exit points, written in a programming language, such as, for example, Java, C or C++. A software module may be compiled and linked into an executable program, installed in a dynamic link library, or may be written in an interpreted programming language such as, for example, BASIC, Perl, or Python. It will be appreciated that software modules may be callable from other modules or from themselves, and/or may be invoked in response to detected events or interrupts. Software modules configured for execution on computing devices may be provided on a computer readable medium, such as a compact disc, digital video disc, flash drive, magnetic disc, or any other tangible medium, or as a digital download (and may be originally stored in a compressed or installable format that requires installation, decompression or decryption prior to execution). Such software code may be stored, partially or fully, on a memory device of the executing computing device, for execution by the computing device. Software instructions may be embedded in firmware, such as an EPROM. It will be further appreciated that hardware modules may be comprised of connected logic units, such as gates and flip-flops, and/or may be comprised of programmable units, such as programmable gate arrays or processors. The modules or computing device functionality described herein are preferably implemented as software modules, but may be represented in hardware or firmware. Generally, the modules described herein refer to logical modules that may be combined with other modules or divided into sub-modules despite their physical organization or storage.

The computer system 1700 may implement the techniques described herein using customized hard-wired logic, one or more ASICs or FPGAs, firmware and/or program logic which in combination with the computer system causes or programs computer system 1700 to be a special-purpose machine. According to one embodiment, the techniques herein are performed by computer system 1700 in response to processor(s) 1704 executing one or more sequences of one or more instructions contained in main memory 1706. Such instructions may be read into main memory 1706 from another storage medium, such as storage device 1710. Execution of the sequences of instructions contained in main memory 1706 causes processor(s) 1704 to perform the process steps described herein. In alternative embodiments, hard-wired circuitry may be used in place of or in combination with software instructions.

The term “non-transitory media,” and similar terms, as used herein refers to any media that store data and/or instructions that cause a machine to operate in a specific fashion. Such non-transitory media may comprise non-volatile media and/or volatile media. Non-volatile media includes, for example, optical or magnetic disks, such as storage device 1710. Volatile media includes dynamic memory, such as the main memory 1706. Common forms of non-transitory media include, for example, a floppy disk, a flexible disk, hard disk, solid state drive, magnetic tape, or any other magnetic data storage medium, a CD-ROM, any other optical data storage medium, any physical medium with patterns of holes, a RAM, a PROM, and EPROM, a FLASH-EPROM, NVRAM, any other memory chip or cartridge, and networked versions of the same.

Non-transitory media is distinct from but may be used in conjunction with transmission media. Transmission media participates in transferring information between non-transitory media. For example, transmission media includes coaxial cables, copper wire and fiber optics, including the wires that comprise bus 1702. Transmission media can also take the form of acoustic or light waves, such as those generated during radio-wave and infra-red data communications.

Various forms of media may be involved in carrying one or more sequences of one or more instructions to processor 1704 for execution. For example, the instructions may initially be carried on a magnetic disk or solid-state drive of a remote computer. The remote computer can load the instructions into its dynamic memory and send the instructions over a telephone line using a modem. A modem local to computer system 1700 can receive the data on the telephone line and use an infra-red transmitter to convert the data to an infra-red signal. An infra-red detector can receive the data carried in the infra-red signal and appropriate circuitry can place the data on bus 1702. Bus 1702 carries the data to main memory 1706, from which processor 1704 retrieves and executes the instructions. The instructions received by main memory 1706 may retrieves and executes the instructions. The instructions received by main memory 1706 may optionally be stored on storage device 1710 either before or after execution by processor 1704.

The computer system 1700 also includes a communication interface 1718 coupled to bus 1702. Communication interface 1718 provides a two-way data communication coupling to one or more network links that are connected to one or more local networks. For example, communication interface 1718 may be an integrated services digital network (ISDN) card, cable modem, satellite modem, or a modem to provide a data communication connection to a corresponding type of telephone line. As another example, communication interface 1718 may be a local area network (LAN) card to provide a data communication connection to a compatible LAN (or WAN component to communicated with a WAN). Wireless links may also be implemented. In any such implementation, communication interface 1718 sends and receives electrical, electromagnetic or optical signals that carry digital data streams representing various types of information.

A network link typically provides data communication through one or more networks to other data devices. For example, a network link may provide a connection through local network to a host computer or to data equipment operated by an Internet Service Provider (ISP). The ISP in turn provides data communication services through the world wide packet data communication network now commonly referred to as the “Internet”. Local network and Internet both use electrical, electromagnetic or optical signals that carry digital data streams. The signals through the various networks and the signals on network link and through communication interface 1718, which carry the digital data to and from computer system 1700, are example forms of transmission media.

The computer system 1700 can send messages and receive data, including program code, through the network(s), network link and communication interface 1718. In the Internet example, a server might transmit a requested code for an application program through the Internet, the ISP, the local network and the communication interface 1718.

The received code may be executed by processor 1704 as it is received, and/or stored in storage device 1710, or other non-volatile storage for later execution.

Each of the processes, methods, and algorithms described in the preceding sections may be embodied in, and fully or partially automated by, code modules executed by one or more computer systems or computer processors comprising computer hardware. The processes and algorithms may be implemented partially or wholly in application-specific circuitry.

The various features and processes described above may be used independently of one another, or may be combined in various ways. All possible combinations and sub-combinations are intended to fall within the scope of this disclosure. In addition, certain method or process blocks may be omitted in some implementations. The methods and processes described herein are also not limited to any particular sequence, and the blocks or states relating thereto can be performed in other sequences that are appropriate. For example, described blocks or states may be performed in an order other than that specifically disclosed, or multiple blocks or states may be combined in a single block or state. The example blocks or states may be performed in serial, in parallel, or in some other manner. Blocks or states may be added to or removed from the disclosed example embodiments. The example systems and components described herein may be configured differently than described. For example, elements may be added to, removed from, or rearranged compared to the disclosed example embodiments.

Conditional language, such as, among others, “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements and/or steps. Thus, such conditional language is not generally intended to imply that features, elements and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular embodiment.

Any process descriptions, elements, or blocks in the flow diagrams described herein and/or depicted in the attached figures should be understood as potentially representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process. Alternate implementations are included within the scope of the embodiments described herein in which elements or functions may be deleted, executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those skilled in the art.

It should be emphasized that many variations and modifications may be made to the above-described embodiments, the elements of which are to be understood as being among other acceptable examples. All such modifications and variations are intended to be included herein within the scope of this disclosure. The foregoing description details certain embodiments of the invention. It will be appreciated, however, that no matter how detailed the foregoing appears in text, the invention can be practiced in many ways. As is also stated above, it should be noted that the use of particular terminology when describing certain features or aspects of the invention should not be taken to imply that the terminology is being re-defined herein to be restricted to including any specific characteristics of the features or aspects of the invention with which that terminology is associated. The scope of the invention should therefore be construed in accordance with the appended claims and any equivalents thereof.

Engines, Components, and Logic

Certain embodiments are described herein as including logic or a number of components, engines, or mechanisms. Engines may constitute either software engines (e.g., code embodied on a machine-readable medium) or hardware engines. A “hardware engine” is a tangible unit capable of performing certain operations and may be configured or arranged in a certain physical manner. In various example embodiments, one or more computer systems (e.g., a standalone computer system, a client computer system, or a server computer system) or one or more hardware engines of a computer system (e.g., a processor or a group of processors) may be configured by software (e.g., an application or application portion) as a hardware engine that operates to perform certain operations as described herein.

In some embodiments, a hardware engine may be implemented mechanically, electronically, or any suitable combination thereof. For example, a hardware engine may include dedicated circuitry or logic that is permanently configured to perform certain operations. For example, a hardware engine may be a special-purpose processor, such as a Field-Programmable Gate Array (FPGA) or an Application Specific Integrated Circuit (ASIC). A hardware engine may also include programmable logic or circuitry that is temporarily configured by software to perform certain operations. For example, a hardware engine may include software executed by a general-purpose processor or other programmable processor. Once configured by such software, hardware engines become specific machines (or specific components of a machine) uniquely tailored to perform the configured functions and are no longer general-purpose processors. It will be appreciated that the decision to implement a hardware engine mechanically, in dedicated and permanently configured circuitry, or in temporarily configured circuitry (e.g., configured by software) may be driven by cost and time considerations.

Accordingly, the phrase “hardware engine” should be understood to encompass a tangible entity, be that an entity that is physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner or to perform certain operations described herein. As used herein, “hardware-implemented engine” refers to a hardware engine. Considering embodiments in which hardware engines are temporarily configured (e.g., programmed), each of the hardware engines need not be configured or instantiated at any one instance in time. For example, where a hardware engine comprises a general-purpose processor configured by software to become a special-purpose processor, the general-purpose processor may be configured as respectively different special-purpose processors (e.g., comprising different hardware engines) at different times. Software accordingly configures a particular processor or processors, for example, to constitute a particular hardware engine at one instance of time and to constitute a different hardware engine at a different instance of time.

Hardware engines can provide information to, and receive information from, other hardware engines. Accordingly, the described hardware engines may be regarded as being communicatively coupled. Where multiple hardware engines exist contemporaneously, communications may be achieved through signal transmission (e.g., over appropriate circuits and buses) between or among two or more of the hardware engines. In embodiments in which multiple hardware engines are configured or instantiated at different times, communications between such hardware engines may be achieved, for example, through the storage and retrieval of information in memory structures to which the multiple hardware engines have access. For example, one hardware engine may perform an operation and store the output of that operation in a memory device to which it is communicatively coupled. A further hardware engine may then, at a later time, access the memory device to retrieve and process the stored output. Hardware engines may also initiate communications with input or output devices, and can operate on a resource (e.g., a collection of information).

The various operations of example methods described herein may be performed, at least partially, by one or more processors that are temporarily configured (e.g., by software) or permanently configured to perform the relevant operations. Whether temporarily or permanently configured, such processors may constitute processor-implemented engines that operate to perform one or more operations or functions described herein. As used herein, “processor-implemented engine” refers to a hardware engine implemented using one or more processors.

Similarly, the methods described herein may be at least partially processor-implemented, with a particular processor or processors being an example of hardware. For example, at least some of the operations of a method may be performed by one or more processors or processor-implemented engines. Moreover, the one or more processors may also operate to support performance of the relevant operations in a “cloud computing” environment or as a “software as a service” (SaaS). For example, at least some of the operations may be performed by a group of computers (as examples of machines including processors), with these operations being accessible via a network (e.g., the Internet) and via one or more appropriate interfaces (e.g., an Application Program Interface (API)).

The performance of certain of the operations may be distributed among the processors, not only residing within a single machine, but deployed across a number of machines. In some example embodiments, the processors or processor-implemented engines may be located in a single geographic location (e.g., within a home environment, an office environment, or a server farm). In other example embodiments, the processors or processor-implemented engines may be distributed across a number of geographic locations.

Language

Throughout this specification, plural instances may implement components, operations, or structures described as a single instance. Although individual operations of one or more methods are illustrated and described as separate operations, one or more of the individual operations may be performed concurrently, and nothing requires that the operations be performed in the order illustrated. Structures and functionality presented as separate components in example configurations may be implemented as a combined structure or component. Similarly, structures and functionality presented as a single component may be implemented as separate components. These and other variations, modifications, additions, and improvements fall within the scope of the subject matter herein.

Although an overview of the subject matter has been described with reference to specific example embodiments, various modifications and changes may be made to these embodiments without departing from the broader scope of embodiments of the present disclosure. Such embodiments of the subject matter may be referred to herein, individually or collectively, by the term “invention” merely for convenience and without intending to voluntarily limit the scope of this application to any single disclosure or concept if more than one is, in fact, disclosed.

The embodiments illustrated herein are described in sufficient detail to enable those skilled in the art to practice the teachings disclosed. Other embodiments may be used and derived therefrom, such that structural and logical substitutions and changes may be made without departing from the scope of this disclosure. The Detailed Description, therefore, is not to be taken in a limiting sense, and the scope of various embodiments is defined only by the appended claims, along with the full range of equivalents to which such claims are entitled.

It will be appreciated that an “engine,” “system,” “data store,” and/or “database” may comprise software, hardware, firmware, and/or circuitry. In one example, one or more software programs comprising instructions capable of being executable by a processor may perform one or more of the functions of the engines, data stores, databases, or systems described herein. In another example, circuitry may perform the same or similar functions. Alternative embodiments may comprise more, less, or functionally equivalent engines, systems, data stores, or databases, and still be within the scope of present embodiments. For example, the functionality of the various systems, engines, data stores, and/or databases may be combined or divided differently.

“Open source” software is defined herein to be source code that allows distribution as source code as well as compiled form, with a well-publicized and indexed means of obtaining the source, optionally with a license that allows modifications and derived works.

The data stores described herein may be any suitable structure (e.g., an active database, a relational database, a self-referential database, a table, a matrix, an array, a flat file, a documented-oriented storage system, a non-relational No-SQL system, and the like), and may be cloud-based or otherwise.

As used herein, the term “or” may be construed in either an inclusive or exclusive sense. Moreover, plural instances may be provided for resources, operations, or structures described herein as a single instance. Additionally, boundaries between various resources, operations, engines, engines, and data stores are somewhat arbitrary, and particular operations are illustrated in a context of specific illustrative configurations. Other allocations of functionality are envisioned and may fall within a scope of various embodiments of the present disclosure. In general, structures and functionality presented as separate resources in the example configurations may be implemented as a combined structure or resource. Similarly, structures and functionality presented as a single resource may be implemented as separate resources. These and other variations, modifications, additions, and improvements fall within a scope of embodiments of the present disclosure as represented by the appended claims. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.

Conditional language, such as, among others, “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements and/or steps. Thus, such conditional language is not generally intended to imply that features, elements and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular embodiment.

For example, “is to be” could mean, “should be,” “needs to be,” “is required to be,” or “is desired to be,” in some embodiments.

In the following description, certain specific details are set forth in order to provide a thorough understanding of various embodiments of the invention. However, one skilled in the art will understand that the invention may be practiced without these details. Moreover, while various embodiments of the invention are disclosed herein, many adaptations and modifications may be made within the scope of the invention in accordance with the common general knowledge of those skilled in this art. Such modifications include the substitution of known equivalents for any aspect of the invention in order to achieve the same result in substantially the same way.

Unless the context requires otherwise, throughout the present specification and claims, the word “comprise” and variations thereof, such as, “comprises” and “comprising” are to be construed in an open, inclusive sense, that is as “including, but not limited to.” Recitation of numeric ranges of values throughout the specification is intended to serve as a shorthand notation of referring individually to each separate value falling within the range inclusive of the values defining the range, and each separate value is incorporated in the specification as it were individually recited herein. Additionally, the singular forms “a,” “an” and “the” include plural referents unless the context clearly dictates otherwise. The phrases “at least one of,” “at least one selected from the group of,” or “at least one selected from the group consisting of,” and the like are to be interpreted in the disjunctive (e.g., not to be interpreted as at least one of A and at least one of B).

Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment, but may be in some instances. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

Although the invention(s) have been described in detail for the purpose of illustration based on what is currently considered to be the most practical and preferred implementations, it is to be understood that such detail is solely for that purpose and that the invention is not limited to the disclosed implementations, but, on the contrary, is intended to cover modifications and equivalent arrangements that are within the spirit and scope of the appended claims. For example, it is to be understood that the present invention contemplates that, to the extent possible, one or more features of any embodiment can be combined with one or more features of any other embodiment.

The foregoing description of the present invention(s) have been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. The breadth and scope of the present invention should not be limited by any of the above-described exemplary embodiments. Many modifications and variations will be apparent to the practitioner skilled in the art. The modifications and variations include any relevant combination of the disclosed features. The embodiments were chosen and described in order to best explain the principles of the invention and its practical application, thereby enabling others skilled in the art to understand the invention for various embodiments and with various modifications that are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the following claims and their equivalence. 

The invention claimed is:
 1. A system of a vehicle comprising: one or more sensors; one or more processors; and a memory storing instructions that, when executed by the one or more processors, causes the system to perform: generating an initial trajectory along a route to be travelled by the vehicle; acquiring one or more trajectories of other vehicles along the route; selectively adjusting the initial trajectory based on the one or more trajectories of other vehicles, wherein the selective adjusting of the initial trajectory comprises: receiving an indication that a second vehicle and a third vehicle are intending to merge onto a first lane occupied by the first vehicle, wherein the second vehicle and the third vehicle occupy a second lane and a third lane, respectively; determining to permit the second vehicle to merge onto the lane while prohibiting the third vehicle from merging onto the lane based on intended destinations of the second vehicle and the third vehicle and levels of traffic congestion in the second lane and in the third lane; and permitting the second vehicle to merge onto the lane; and navigating the vehicle based on the selectively adjusted initial trajectory.
 2. The system of claim 1, wherein the generating of the initial trajectory comprises: detecting one or more road markings or lane dividers; and generating the initial trajectory based on the detected one or more road markings or lane dividers.
 3. The system of claim 2, wherein the generating the initial trajectory comprises creating the initial trajectory to be centered between two adjacent detected lane dividers.
 4. The system of claim 1, wherein the generating the initial trajectory comprises: determining whether a road marking or lane divider is detectable; and in response to determining that no road marking or lane divider is detectable: determining the initial trajectory to not coincide with a path of an oncoming vehicle or a parked vehicle; and generating the determined initial trajectory.
 5. The system of claim 1, wherein the initial trajectory comprises a semicircular trajectory from the first lane from which the first vehicle is making a turn to a fourth lane to which the vehicle is turning.
 6. The system of claim 5, wherein the selectively adjusting the initial trajectory comprises: during a turn, adjusting the initial trajectory based on a trajectory of another vehicle making a turn from another lane, wherein the trajectory of the another vehicle is comprised within the one or more trajectories of the other vehicles.
 7. The system of claim 5, wherein the selectively adjusting the initial trajectory comprises: during a turn, adjusting the initial trajectory based on a trajectory of another vehicle traveling from a fifth lane opposite to the fourth lane to which the vehicle is turning, wherein the trajectory of the another vehicle is comprised within the one or more trajectories of the other vehicles.
 8. The system of claim 1, wherein the selectively adjusting the initial trajectory is based on a trajectory corresponding to another vehicle and on a distance between the another vehicle and adjacent traffic or opposing traffic, wherein the trajectory corresponding to the another vehicle is comprised within the one or more trajectories of the other vehicles.
 9. The system of claim 1, wherein the determination to permit the second vehicle to merge onto the lane is further based on a prediction of whether permitting the second vehicle to merge will cause the first vehicle and other vehicles currently travelling in the lane to get delayed at a red traffic light signal.
 10. The system of claim 1, wherein the selectively adjusting of the initial trajectories comprises: receiving an indication that a second vehicle is intending to merge onto a lane occupied by the first vehicle; sending a response signal to the second vehicle indicating to permit the second vehicle to merge; receiving a response to the response signal from the second vehicle that the second vehicle has withdrawn the intention to merge; resending the response signal to the second vehicle at a higher frequency or a higher brightness to confirm that the second vehicle has withdrawn the intention to merge; and selectively adjusting the initial trajectory based on the confirmation of whether the second vehicle has withdrawn the intention to merge.
 11. The system of claim 1, wherein: the route comprises an entrance, the entrance being devoid of demarcations that divide opposing traffic; the one or more trajectories of other vehicles comprise first trajectories of vehicles entering the entrance and second trajectories of vehicles leaving the entrance; and the navigating comprises turning into the entrance while occupying a space limited to one half of the entrance.
 12. The system of claim 1, wherein: the determination to permit the second vehicle to merge onto the lane is further based on a number of vehicles within a given distance in front of the second vehicle compared to a number of vehicles within the given distance in front of the third vehicle.
 13. A method implemented by a computing system including one or more processors and storage media storing machine-readable instructions, wherein the method is performed using the one or more processors, the method comprising: generating an initial trajectory along a route to be travelled by the vehicle; acquiring one or more trajectories of other vehicles along the route; selectively adjusting the initial trajectory based on the one or more trajectories of other vehicles, wherein the selective adjusting of the initial trajectory comprises: receiving an indication that a second vehicle and a third vehicle are intending to merge onto a first lane occupied by the first vehicle, wherein the second vehicle and the third vehicle occupy a second lane and a third lane, respectively; determining to permit the second vehicle to merge onto the lane while prohibiting the third vehicle from merging onto the lane based on intended destinations of the second vehicle and the third vehicle and levels of traffic congestion in the second lane and in the third lane; and permitting the second vehicle to merge onto the lane; and navigating the vehicle based on the selectively adjusted initial trajectory.
 14. The method of claim 13, wherein the generating of the initial trajectory comprises: detecting one or more road markings or lane dividers; and generating the initial trajectory based on the detected one or more road markings or lane dividers.
 15. The method of claim 14, wherein the generating the initial trajectory comprises creating the initial trajectory to be centered between two adjacent detected lane dividers.
 16. The method of claim 13, wherein the generating the initial trajectory comprises: determining whether a road marking or lane divider is detectable; and in response to determining that no road marking or lane divider is detectable: determining the initial trajectory to not coincide with a path of an oncoming vehicle or a parked vehicle; and generating the determined initial trajectory.
 17. The method of claim 13, wherein the initial trajectory comprises a semicircular trajectory from the first lane from which the first vehicle is making a turn to a fourth lane to which the vehicle is turning.
 18. The method of claim 17, wherein the selectively adjusting the initial trajectory comprises: during a turn, adjusting the initial trajectory based on a trajectory of another vehicle making a turn from another lane, wherein the trajectory of the another vehicle is comprised within the one or more trajectories of the other vehicles.
 19. The method of claim 17, wherein the selectively adjusting the initial trajectory comprises: during a turn, adjusting the initial trajectory based on a trajectory of another vehicle traveling from a fifth lane opposite to the fourth lane to which the vehicle is turning, wherein the trajectory of the another vehicle is comprised within the one or more trajectories of the other vehicles.
 20. The method of claim 13, wherein the selectively adjusting the initial trajectory is based on a trajectory corresponding to another vehicle and on a distance between the another vehicle and adjacent traffic or opposing traffic, wherein the trajectory corresponding to the another vehicle is comprised within the one or more trajectories of the other vehicles. 